Ci800_01a_oi_e.doc / Jul-17
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The PDO mapping can only be changed by MC800 parameters “Transmit Data 1” to “Receive Data
4”. Change of the mapping via CANopen is not supported, i. e. the corresponding CANopen
Objects (1600 … 1603 hex and 1A00 … 1A03 hex) are read only.
The default transmission type for the PDOs is asynchronous (event driven), i. e. the corresponding
Transmit PDO is sent whenever the value of the mapped MC800 parameter changes. Values
received by a Receive PDO are transferred immediately to the register of the mapped MC800
parameter. However, the transmission type of each PDO can be changed by the CANopen Master
in the corresponding CANopen Objects (1400 … 1403 hex and 1800 … 1803 hex) if required.
PDO transmission is only possible when the interface module is in the CANopen state
“Operational”. To start the PDO communication, the CANopen master device must send the NMT
(Network Management) message “Start Remote Node”.
5.4
Emergency Message
When an error occurs in the MC800 firmware and MC800 output “Error” is set, the interface
module transmits a CANopen EMCY Message (identifier 80 hex + Node Address) with the Error
Code “Generic Error”.
After all pending errors of the MC800 firmware have been cleared and MC800 output “Error” is
reset, an EMCY message with all data bytes set to 0 is sent.
5.5
Node Guarding
The interface module supports the standard CANopen node guarding function for supervision by
the CANopen master.
5.6
EDS
The corresponding CANopen EDS file (Electronic Data Sheet) “CI800.eds” is available for
download on the motrona homepage.
