DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
7-14
Boot-up services
After the slave completes the initialization and enters the pre-operational state, it transmits
the Boot-up message.
¾ Other predefined CANopen communication objects (SYNC and EMCY)
SYNC Object (Synchronous object)
The synchronous object is the message broadcasted periodically by the master node in the
CANopen network. This object is used to realize the network clock signal. Every device
decides whether to use the event and undertake the synchronous communication with other
network devices according to its configuration. For example, when controlling the driving
device, the devices do not act immediately after they receive the command sent by the
master. They do act until they receive the synchronous message. In this way, many devices
can act synchronously.
The format of the SYNC message:
COB-ID
80 (hex)
Emergency object
The emergency object is used by the CANopen device to indicate an internal error. When
an emergency error occurs in the device, the device sent the emergency message
(including the emergency error code), and the device enters the error state. After the error
is eliminated, the device sends the emergency message, the emergency error code is 0,
and the device enters the normal state.
The format of the emergency message:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Emergency error
code
80 (hex)
+Node-ID
LSB MSB
Error
register
Factory-defined error code
Note: The value in the error register is mapped to index 1001 (hex) in the object dictionary.
If the value is 0, no error occurs. If the value is 1, a normal error occurs. If the value is
H’80, an internal error occurs in the device.
7.3.3 The Predefined Connection Set
In order to decrease the configuration workload of the network, CANopen defines a default
identifier. In the predefine connection set, the structure of the 11-bit identifier is as follows.
The objects which are supported and the COB-IDs which are assigned to the objects are listed
below.
¾ The broadcast object in the predefined connection setting
Object Function code COB-ID
Index of the
communication
parameter
NMT 0000 0 -
SYNC 0001 128 (80h) 1005h, 1006h, 1007h
Time stamp 0010 256 (100h) 1012h, 1013h
Function code Node ID
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