DSP resolver user manual
User Manual
Version 1.15
8.7.1
Boot-up message
A CANopen device sends a boot-up message during initialization when its state reaches pre-
operational. Boot-up message is similar to the heartbeat message by having CAN ID 0x700
+ node-id but its data is always 0x00. The communication profile (CiA DS301) defines the
startup behavior.
In some systems the boot-up message might be sent to “empty bus”. Because there is no
other module accepting this message, the module keeps resending the message until it goes
to the bus-off condition. Therefore sending a boot-up message is configurable through
Object dictionary. Bit 0 of unsigned 8 bit variable at 0x5000 in the object dictionary
controls whether the boot-up message is sent or not.
•
Bit 0 = 0: boot-up message is disabled
•
Bit 0 = 1: boot-up message is enabled
index
s
u
b
type
access
variable
values
notes
0x5000
0
U8
RW
co_CANopen_options
0,1
Bit 0 enables boot-up message
Table 8.11: Object dictionary variables related to boot-up message send configuration
8.7.2
Synchronization object (Sync)
The sync object 0x1005 defines whether the module supports broadcasting a sync message
(sync producer) and the CAN ID of the sync message to be sent or received.
The Sync Object is broadcasted periodically by the Sync Producer. It's possible that there is
some time jitter in transmission due to some other objects with higher prior identifiers.
Axiomatic Resolver module doesn't provide sync producer functionality.
User is able to configure the CAN ID of the message to be received as sync message.
31
30
29
28 11
10 0
Module broadcasts
sync message bit
frame
0x0 0000
CAN ID of the sync message to be
broadcasted or received
X
Always 0
Always 0
29 bit CAN ID (not supported in this module)
Bit is
irrelevant
module doesn't
support this
feature
29 bits Ids not
supported
Default value is 0x80,
Can't be edited
Can't be edited
Editable
Table 8.12: The structure of the COB ID of the sync object
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Axiomatic Technologies Oy
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