Emergency Object (Emcy) - Delta ASDA-A3 Series User Manual

ASDA-A3
The following figure shows the timing sequence between the servo drive TxPDO transmission
and the controller SYNC transmission. The servo drive transmits the TxPDO data to the
controller as soon as it receives the SYNC.
SYNC
Message

12.2.2.5 Emergency object (EMCY)

When the servo detects an abnormality, it sends an alarm and notifies the controller with the
Emergency object. The Emergency object can only transmit one alarm at a time. When a higher
priority alarm occurs before the previous lower priority alarm is cleared, the higher priority alarm
overwrites the previous alarm and notifies the controller as an Emergency object.
Controller
Error code
Byte 0
See OD 603Fh on the error code table.
Communication cycle
Objects mapped in
synchronous TxPDO
COB-ID Packet (8 bytes in total)
80
0 1 2
Error register
Byte 1
OD 1001
SYNC
Message
Objects mapped in
synchronous TxPDO
3
4 5 6 7
Servo alarm
Byte 2 Byte 3
Refer to Chapter 13
for details.
CANopen Mode
12
Servo drive
N/A
Bytes 4 - 7
12-13