Delta Electronics AFE075A43A User Manual page 116

Chapter 14 CANopen Overview AFE2000 Series
All PDO transmission data must be mapped to index via Object Dictionary.
Example:
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
0x60400010
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
EMCY (Emergency Object)
Emergency objects are triggered when hardware failure occurs for a warning interrupt. The data
format of a emergency object is a 8 bytes data as shown in the following:
Byte 0
Content Emergency Error Code
Please refer to Chapter 5 CANopen error codes for emergency definition of C2000.
Master transmits
CAN(H)
CAN(L)
Master
0x11, 0x22,
Index Sub
0x1600 0
1
0x1600
PDO1 Map
0x1600 2
3
0x1600
0x1600 4
0
0x6040
Slave returns message to Master
CAN(H)
CAN(L)
Master
0xF3, 0x00,
Index Sub
0x1A00 0
1
0x1A00
PDO1 Map
0x1A00 2
3
0x1A00
0x1A00 4
0
0x6041
1
PDO data to Slave
PDO1
0x33, 0x44, 0x55, 0x66,
Definition Value
0. Number
1. Mapped Object 0x60400010
2. Mapped Object
3. Mapped Object
4. Mapped Object
0. Control word
PDO1
Definition Value
0. Number
1. Mapped Object 0x60410010
2. Mapped Object
3. Mapped Object
4. Mapped Object
Status Word
2
Error register
(Object 1001H)
14-114
Slave
0x77, 0x88,
R/W Size
R/W U8
1
R/W U32
R/W
0
U32
0 R/W U32
0
R/W U32
U16
0x2211 R/W
(2 Bytes)
Slave
R/W Size
1 R/W U8
R/W U32
0 R/W
U32
R/W U32
0
0 R/W U32
0xF3 R/W U16
3 4 5
Manufacturer specific Error Field
6 7