Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 CANopen Mode
11-13
11
The following figure shows the timing sequence between the servo drive TxPDO transmission
and the controller SYNC transmission. The servo drive transmits the TxPDO data to the
controller as soon as it receives the SYNC.
Communication cycle
SYNC
Message
Objects mapped in
synchronous TxPDO
SYNC
Message
Objects mapped in
synchronous TxPDO
11.2.2.5 Emergency object (EMCY)
When the servo detects an abnormality, it sends an alarm and notifies the controller with the
Emergency object. The Emergency object can only transmit one alarm at a time. When a higher
priority alarm occurs before the previous lower priority alarm is cleared, the higher priority alarm
overwrites the previous alarm and notifies the controller as an Emergency object.
Controller
Servo drive
COB-ID
80
Packet (8 bytes in total)
0 1 2 3 4 5 6 7
Error code Error register Servo alarm N/A
Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 - 7
See OD 603Fh on the error code table. OD 1001h
Refer to Chapter 12
for details.