INVT Goodrive350 Series, Руководство по эксплуатации

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Communication extension card CANopen communication card
-24-
3.4.7 Synchronous packet object (SYNC)
Generally, SYNC signals are transmitted by the CANopen master station cyclically. A SYNC
signal does not contain any data and is used mainly to request PDO Tx of a slave station node
of the synchronous transmission type. 0x1005 in the object dictionary defines COB-IDs of the
objects that receive synchronous packets, and they are set to 0x80 in the CANopen
pre-defined connection set. For PDO Tx, the transmission types of 1 to 240 indicate
synchronous transmission.

Command
Master station -> slave station
COB-ID No data
0x80 /
3.4.8 Emergency packet object (EMCY)
This packet is transmitted when an internal error occurs on the communication card or VFD, or
an error is deleted.

Command
Slave station -> master station
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x80 +
Node-ID
Emergency error
code
Error
register
VFD error code
LSB MSB bit7-0 bit15-8 bit23-16 bit31-24 bit39-32

Description
An emergency error code is two bytes. Byte0 is the least significant byte (LSB), and Byte1 is
the most significant byte (MSB). A VFD error code is five bytes. Byte3 is the LSB, and Byte7 is
the MSB.
An emergency error code indicates the type of the current error, as described in Table 3-6. The
error register stores the type of the current error. You can determine the error type indicated
by the current emergency packet according to the value stored in the register. Table 3-7
describes the indication of the bits of the error register. For information about the VFD error
codes, see the VFD operation manual. The function code P07.27 in Appendix B describes the
error codes of Goodrive350 VFD.
Table 3-6 Emergency error codes
Emergency error code (hex) Code function description
00xx Error reset or no error
10xx Generic error
20xx Current
21xx Current error on the, device input side