CANopen Programmer's Manual - Maccon.de

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2: Network Management CANopen Programmer’s Manual Device Monitoring Monitoring Protocols In addition to controlling state machines, NMT messages provide services for monitoring devices on the network. Monitoring services use one of two protocols: heartbeat and node guarding. Heartbeat Protocol The heartbeat protocol allows the network manager application to detect problems with a device or its network connection. The CANopen master configures the device to periodically transmit a heartbeat message indicating the device’s current state (pre-operational, operational, or stopped). The network manager monitors the heartbeat messages. Failure to receive a node’s heartbeat messages indicates a problem with the device or its connection to the network. Node-guarding Protocol The node-guarding protocol is similar to the heartbeat, but it allows both the device and the network manager to monitor the connection between them. The network manager configures the device (node) to expect node-guarding messages at some interval. The network manager then sends a message to the configured device at that frequency, and the device responds with a node-guarding message. This allows both the network manager and the device to identify a network failure if the guarding messages stop. SYNC and High-resolution Time Stamp Messages The SYNC message is a standard CANopen message used to synchronize multiple devices and to trigger the synchronous transmission of PDOs. In addition, to allow more accurate synchronization of device clocks, Copley Controls CANopen amplifiers use the optional high-resolution time stamp message specified in the Communication Profile. Normally, a single device produces both the SYNC message and the high-resolution time stamp message. Copley amplifiers can produce the SYNC and high-resolution time stamp messages. We recommend using an amplifier as the master sync generator. This assures greater timing accuracy and allows the amplifier PVT segment buffer to be filled with the minimum number of PVT segments at all times during operation. Time Stamp PDOs The device designated as the time stamp producer should have a transmit PDO mapped for the high-resolution time stamp message. This PDO should be configured for synchronous transmission, based on the SYNC message. We recommend sending this message approximately every 100 milliseconds. Every other device (all time stamp consumers) should have a receive PDO mapped for the highresolution time stamp message. The message ID of each receive PDO used to receive a time stamp should match the ID of the transmit PDO used to send the time stamp. Configuring the devices in this fashion causes the time stamp producer to generate a transmit PDO for every N sync messages. This PDO is received by each of the time stamp consumers on the network and causes them to update their internal system times based on the message content. The result is that all devices on the network act as though they share the same clock input, and remain tightly synchronized. Emergency Messages A device sends an 8-byte emergency message (EMCY) when an error occurs in the device. It contains information about the error type, and Copley-specific information. A device need only send one EMCY message per event. Any device can be configured to accept EMCY messages. 42 Copley Controls
CANopen Programmer’s Manual 2: Network Management EMCY Message Structure The EMCY message is structured as follows: Bytes Description 0, 1 Standard CANopen emergency error code for errors active on the amplifier. See EMCY Message Error Codes, p. 43. 2 Error register object value See Error Register, p. 67. 3 Reserved for future use (0 for now). 4, 5 Bit mask representing the Copley Controls codes for active error conditions on the amplifier (see EMCY Message Copley-Specific Error Conditions, p. 44). 6, 7 Reserved for future use (0 for now). EMCY Message Error Codes Bytes 0 and 1 of the EMCY message describe the standard CANopen error codes used by Copley Amplifiers: Error Code (hex) Description 2280 Encoder Feedback Error 2310 Current Limited 2320 Short Circuit 3110 Mains Over Voltage 3120 Mains Under Voltage 3310 Output Voltage Limited 4210 Amplifier Over Temperature 4300 Motor Temperature Sensor 5080 Amplifier error 7122 Phasing Error 7380 Positive Limit Switch 7381 Negative Limit Switch 7390 Tracking Error 73A0 Position Wrapped Around +/- 2 31 Counts 8130 Node Guarding Error or Heartbeat Error Copley Controls 43
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CANopen Programmer's Manual - Maccon.de

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