SD710 Series Servo Drive User Manal Chapter 11 Communication
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11.2.6 Emergency Object Service (EMCY)
When a Canopen node fails, the node sends an emergency message frame according to the table transformation
mechanism. The emergency message follows the producer-consumer model, where other nodes in the CAN network can
choose to handle the failure after the node failure is sent. This Servo Drive only acts as an emergency message producer
and does not process other node emergency messages.
When a node fails, the driver updates the error register (1001h) and the predefined error field (1003h), regardless of
whether an emergency message is activated or not.
When an emergency message is used, it needs to be activated accordingly.
MSB LSB
31
30 0
0: Activation
1: Close
0x80+Node_ID
The format of the emergency message sent by the servo drive is.
COB-ID
0
1
2
3
4
5
6
7
0x80+Node_ID
error code
error register
Reserved
auxiliary byte
Note: The error register is always the same as 1001h.
(1) When an abnormality occurs in communication, the error code remains the same as required by the DS301, and the
auxiliary byte is zero in the event of a communication abnormality.
(2) When an abnormality specified by the user occurs, the error code is 0xFF00 and the auxiliary byte displays the user-
specified error code.
For
example,
turn on contact 1 (Pn080=1) emergency messages.
(1) Node pre-operation (valid for turning on SDO operation)
frame format
Cob_ID
0
1
data frame
00
80
01
Note: The frames are remote frames.
(2) The object of activating the emergency message is 1014h, where Bit31 is used to activate/deactivate the emergency
message, according to which the data sent by the master computer is: (Write data 0x00000081)
COB-ID
0
1
2
3
4
5
6
7
601H
23
14
10
00
81
00
00
00
Note: The frames are data frames.
(3) Check if the drive has an active emergency messages by monitoring function code Un031 (communication address
0xE031).