Vacon CANopen OPTE6, Руководство пользователя

Страница: 14 / 103

3
vacon • 14 CANopen protocol description
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
All communication errors are reset if a reset command is given. This does not however reset drive
faults if there are active error sources.
EMCYs are also created in some cases, even though a fault is not created. These are for notification
only.
3.4 SDO protocol
The Option board contains one SDO server. The SDO protocol provides a direct access to the object
entries of the object dictionary of the CANopen device.
Each message is acknowledged by the
server. The protocol is mostly used to set and read parameters from the object dictionary at the
pre-operational state. Some objects have limitations for SDO usage at the operational state.
Up to four bytes can be transferred by using the expedited transfer, where the data fits into one CAN
message. For bigger than 4-byte object sizes, segmented transfer must be used. Optionally, block
transfer is also possible with bigger data types. Block transfer is most efficient with big data sizes.
0x8140 Recovered from Bus-Off
EMCY is sent after CAN driver goes back to active state. This
also clears the fault.
On
0x8250
PDO timer expired
Error is cleared when a PDO is received (in expired PDO).
Quadruple
flash
Table 18: Notification EMCY objects
EEC Description
0x8110 CAN overrun (objects lost)
0x8210 PDO not processed due to length error
0x8220 PDO length exceeded
0x8240 Unexpected SYNC data length
Table 19: EMCY-relate objects in OD
Index Description
0x1001 Error register
0x1003
Pre-defined error field
list
0x1014 EMCY object COB-ID
Table 20: SDO-related objects in OD
Index Description
0x1200
SDO server parameter
object
Table 17: Description and behavior of different error situations