Delta C200 Series User Manual page 263

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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 13.5 CANopen error codes for emergency definition of C200.
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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
(Object 1001H)
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Chapter 13 CANopen Overview |C200 Series
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 0x2211
PDO1
Definition Value
0. Number
1. Mapped Object 0x60410010
2. Mapped Object
3. Mapped Object
4. Mapped Object
Status Word
2
Error register
Manufacturer specific Error Field
13-6
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Slave
0x77, 0x88,
R/W Size
1 R/W U8
R/W U32
R/W
0
U32
0 R/W U32
0 R/W U32
U16
R/W
(2 Bytes)
Slave
R/W Size
1 R/W U8
R/W U32
R/W
0
U32
U32
0 R/W
0 R/W U32
0xF3 R/W U16
3 4 5 6
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