Synchronization Object (Sync); Object 0X3013: Synchronization Timer; Emergency Object (Emcy); Network Management (Nmt) - Moog RKP-D User Manual

2 Access over CANopen

2.5 Synchronization Object (SYNC)

The Synchronization Object controls the time dependencies of process data. By means of SYNC transmis-
sion, the reception of PDO data can be synchronized and transmit PDOs can be triggered. The Synchroniza-
tion Object does not contain any data and has a high priority on the bus.
By default, the device acts as SYNC consumer. The device can act also as SYNC producer.
Object
SYNC
1
The COB IDs according to the predefined connection set can be changed manually.

2.5.1 Object 0x3013: Synchronization timer

This is the time period for the SYNC signal. This has only influence if the device is a SYNC producer.
CAN
Index Subindex
0x3013 0

2.6 Emergency Object (EMCY)

The Emergency Object is a high priority message triggered by the event of an error in the device. The
CANopen communication profile (DS 301) defines the emergency error codes.
Description of the coding of the emergency message:
Chapter "8.2.2 Emergency message", page 117
Object
EMCY
1
The COB IDs according to the predefined connection set can be changed manually.

2.7 Network Management (NMT)

Our hydraulic servo valves and radial piston pumps act as NMT slaves, thus a NMT master must be present
within the network to achieve the desired functionality.
Each module within a CAN network can be uniquely identified by its NMT address. The NMT address corre-
sponds to the node ID. The node ID is essential for the operation of the module within a CAN network, which
is a number between 1...127.
The node ID can be configured via the LSS.
Chapter "2.9 The device Layer Setting Services (LSS)", page
Object
NMT
© Moog GmbH
COB ID
1
0x80 (broadcast message)

Table 11: Synchronization object (SYNC)

Name
SyncTimer
COB ID
1
0x80 + Node-ID

Table 12: Emergency object (EMCY)

COB ID
0 (broadcast message)

Table 13: Network Management object (NMT)

USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
Index/Subindex (hex) Description
1005 Synchronization message which can trigger
events. E.g., send TPDO.
Data type Access Persistence
UINT16 rw Y
Index/Subindex (hex) Description
1014 Used to communicate emergencies
14.
Index/Subindex (hex) Description
None Used to control the network status of a partici-
pant
Synchronization Object (SYNC)
Value range Default
UINT16 DSV
12