DSP resolver user manual
User Manual
Version 1.15
index
sub
type
access
variable
notes
0x1016
1
U32
RW
co_consumer_heartbeat_time[1]
Heartbeat inhibit time and
node-id to be listened
0x1017
0
U16
RW
co_producer_heartbeat_time
Heartbeat producing interval
Table 8.16: Object dictionary variables related to error control
Besides the heartbeat protocol there is an old and out-dated error control service, which is
called Node and Life Guarding protocol. It is not recommend for implementation so it's not
supported in Axiomatic CAN open modules.
8.7.4
Emergency object (Emcy)
The emergency message is triggered by the occurrence of a device internal error situation
and are transmitted from an emergency producer on the concerned application device. This
makes EMCY messages suitable for interrupt type error alerts. An emergency message is
transmitted only once per ‘error event’. As long as no new error occurs no further
emergency message will be transmitted. But in case that one or more existing error vanishes
an EMCY -message with error reset (bytes 0 and 1 data 0x0000) and a list of existing error
codes will be sent.
Zero or more emergency consumers may receive the EMCY messages. The reaction of the
emergency consumer is application-specific. CANopen defines several Emergency Error
Codes to be transmitted in the emergency message. The structure of an EMCY message is
described in table below. The CAN ID of the EMCY message is counted by the following
way: sender's node ID + 0x80. The emergency code table (
co_predefined_error_code
)
and
error code register (
co_error_register
) are zeroed in boot up.
Byte 7
Byte 6
Byte 5
Byte 4
Byte 3
Byte 2
Byte 1
Byte 0
Reserved for future
use
Reserved for future
use
Reserved
for future
use
Value of the
co_error_register
(index 0x1001)
0x00 if no errors
Error code from
co_predefined_error_codes
object ( index 0x1003 )
0x0000 if no errors
Table 8.17: The structure of the emergency message
EMCY related objects which are supported in Axiomatic CAN open devices are
co_error_register
(index 0x1001),
co_predefined_error_codes
object (index 0x1003) and
co_cob_id_emcy
object (index 0x1014). EMCY Inhibit time cannot be edited and it's
constant 10 ms.
8.7.5
co_verify_configuration object
Device configurator is able to write the configuration date and time to this object before
storing the settings he has just done.
Configuration date is an unsigned 32 bit variable indicating number of days since 1.1.1984
and it is located to object 0x1020 subindex 1 in the object dictionary. Configuration time is
also an unsigned 32 bit variable indicating the time in milliseconds. This variable can be
found from object 0x1020 subindex 2 in the object dictionary.
Any write to the object dictionary with the SDO protocol will clear the data of the
co_verify_configuration
object. If no save command is given, the original time stamp will
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©
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