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85201A_RK5C_User Manual_02-2017_ENG
7. BOOT-UP SERVICES
Through this service, the NMT slave indicates that a local state transition occurred from the state Initialization to the
state Pre-operational.
The protocol uses the same identifier as the error control protocol. The format of the boot-up message is explained in
the following figure.
COB-ID Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
700h +
Node-ID
Tx
1
00h
-
-
-
-
-
-
-
Figure 46 – Boot-up message format
8. SYNC SERVICES
The SYNC object can be broadcasted periodically by the SYNC producer. This SYNC object provides the basic network
synchronization mechanism.
If the CANopen devices operates synchronously (see object 1800, sub-index 2), it uses the SYNC object to synchronize
its own timing, as the PDO transmission, with that of the synchronization object producer.
The format of the SYNC object is explained in the following figure.
COB-ID Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
80h
Rx
0
-
-
-
-
-
-
-
-
Figure 47 - SYNC message format
The COB-ID of the SYNC message can be changed by object 1005h (SYNC COB-ID).
9. EMCY SERVICES
Emergency objects are triggered by the occurrence of the CANopen device internal error situation. An emergency
object is transmitted only once per 'error event'. No further emergency objects are transmitted as long as no new errors
occur on the CANopen device. If one or more error conditions change, the CANopen device transmits the emergency
object with the updated error code. The error register value inside the EMCY object is also updated. For the GEFRAN
RK5C CANopen device two types of error conditions are defined: Device hardware error and Data set error.
The possible EMCY error codes are shown in the following table.
Error code Description
0000h
Error reset or no error
5000h
Device hardware
6300h
Data set
Table 12 - EMCY error codes for the RK5C CANopen device
About the content of the error register see the description of the object 1001h (Error register).
The format of the EMCY message is explained in the following figure.
COB-ID Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
80h +
Node-ID
Tx
8
EMCY
error
code
LSB
EMCY
error
code
MSB
Error
register
(1001h)
00h
00h
00h
00h
00h
Figure 48 - EMCY message format
The COB-ID of the EMCY message can be changed by object 1014h (EMCY COB-ID).