CANopen Programmer's Manual - Maccon.de

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2: Network Management CANopen Programmer’s Manual COB-ID SYNC MESSAGE INDEX 0X1005 Type Access Units Range Map PDO Memory Unsigned 32 RW - See SYNC ID Format, below. NO R Description This object defines the CAN object ID (COB-ID) associated with the SYNC message. The SYNC message is a standard CANopen message type used to synchronize multiple devices on a CANopen network. SYNC ID Format The SYNC message ID is formatted as follows: Bits Description 0-10 Give the 11-bit identifier for standard (CAN 2.0A) identifiers, or the lower 11 bits for extended (CAN 2.0B) identifiers. 11-28 Give the upper 18 bits of extended identifiers. For standard identifiers these bits should be written as zeros. 29 Identifier format. This bit is clear for standard (11-bit) identifiers, and set for extended (29-bit) identifiers. 30 If set, the amplifier is configured as the SYNC message producer. This bit should be set in at most one amplifier on a network. 31 Reserved COMMUNICATION CYCLE PERIOD INDEX 0X1006 Type Access Units Range Map PDO Memory Unsigned 32 RW microseconds - NO R Description This object defines the interval between SYNC messages in units of microseconds. An amplifier configured as a SYNC message producer will not produce SYNC messages unless this object contains a non-zero value. A value of zero in this object disables SYNC message production. Amplifiers not configured to produce SYNC messages ignore the value of this object. GUARD TIME INDEX 0X100C Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds - NO R Description This object gives the time between node-guarding requests that are sent from the network master to this amplifier. The amplifier will respond to each request with a node-guarding message indicating the internal state of the amplifier. If the amplifier has not received a node-guarding request within the time period defined by the product of the guard time and the Life Time Factor (index 0x100D, p. 47), the amplifier will treat this lack of communication as a fault condition. 46 Copley Controls
CANopen Programmer’s Manual 2: Network Management LIFE TIME FACTOR INDEX 0X100D Type Access Units Range Map PDO Memory Unsigned 8 RW - - NO R Description This object gives a multiple of the GUARD Time (index 0x100C, p. 46). The amplifier expects to receive a node-guarding request within the time period defined by the product of the guard time and the lifetime factor. If the amplifier has not received a node-guarding request within this time period, it treats this condition as a fault. HIGH-RESOLUTION TIME STAMP INDEX 0X1013 Type Access Units Range Map PDO Memory Unsigned 32 RW microseconds 0 - 294,967,295 YES R Description This object holds a time stamp indicating the amplifier's internal time (in microseconds) when the last SYNC message was received (or transmitted for the SYNC producer). Writing to this object will cause the amplifier to adjust its internal clocks to reconcile the difference between the value passed and the internal value of the time stamp. The purpose of this object is to allow multiple amplifiers to synchronize their clocks across the CANopen network. To enable this feature, one amplifier should be selected as a high-resolution time stamp producer. This amplifier should have a transmit PDO configured to transmit this object to the rest of the network at a rate of approximately 10 Hertz (once every 100 milliseconds). Every other amplifier should have a receive PDO configured (using the same COB-ID as the producer's transmit PDO) to update its time stamp using the value passed by the producer. PRODUCER HEARTBEAT TIME INDEX 0X1017 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds - NO R Description This object gives the frequency at which the amplifier will produce heartbeat messages. This object may be set to zero to disable heartbeat production. Note that only one of the two nodeguarding methods may be used at once. If this object is non-zero, then the heartbeat protocol is used regardless of the settings of the node-guarding time and lifetime factor. EMERGENCY OBJECT ID INDEX 0X1014 Type Access Units Range Map PDO Memory Unsigned 32 RW - - NO R Description CAN message ID used with the emergency object. See Emergency Messages, p. 42 and the CANopen Application Layer and Communication Profile (DS 301). EMERGENCY OBJECT ID INHIBIT TIME INDEX 0X1015 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds - NO R Description Inhibit time for the emergency object. See Emergency Messages, p. 42 and the CANopen Application Layer and Communication Profile (DS 301). Copley Controls 47
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CANopen Programmer's Manual - Maccon.de

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