Omron C200HW-CORT21-V1, Руководство по эксплуатации

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Communication
Section 1-3
12
1-3-3-2 Time Stamp Object
CANopen provides a mechanism to assure synchronisation of local real-time
clocks in CANopen nodes.
The Time Stamp Object contains:
•
the number of days since January 1, 1984.
•
the time in milliseconds after midnight
This information is encoded in 6 bytes.
CANopen devices may be Time Stamp Producer, Time Stamp Consumer,
neither, or both. Specific behaviour as producer or consumer is configurable.
A high priority message identifier is assigned to a Time Stamp Object to
assure immediate transmission.
Note: C200HW-CORT21-V1 does not support this function.
1-3-3-3 EMCY Object
Emergency messages are triggered by the occurrence of device internal
errors and are broadcast to all other devices with high priority. An emergency
message is only sent once per ‘error event’. As long as no new device errors
occur, no further emergency message will be sent.
EMCY identifier Each producer has its own emergency message identifier to distinguish itself
from other nodes.
Emergency code The emergency code in the data field of the message has the following
format:
The EEC's are defined by the CANopen Communication Profile.
The value of the error register (index 1001h) is specified in the device profile.
If no device profile is applicable, this can be manufacturer-specific.