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 transmit only 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 is transmitted to the controller as an Emergency object.
Controller
Error code
Byte 0
Refer to Section 13.5.2 for details of the
error code.
Communication
cycle
Objects mapped in
synchronous TxPDO
COB-ID
80
Byte 1
SYNC
message
Objects mapped in
synchronous TxPDO
Packet (8 bytes in total)
0 1 2 3 4 5 6 7
Error register
Byte 2
Refer to Chapter 14
OD 1001h
CANopen Mode
Servo
drive
Servo alarm N/A
Byte 3 Bytes 4 - 7
for details.
12
12-13