Rtr (Remote Transfer Request) Communication; Sync Communication; Emergency Object - Toshiba TOSVERT VF-S15 Series Manual

7.3.2. RTR (Remote Transfer Request) communication

When set RTR setting into TxPDO Transmission type (0x1800, 0x1801, 0x1802, 0x1814 subindex 02), sending
the RTR (Remote Transfer Request) message, Drive send TxPDO message.
TxPDO1 RTR message data
COB-ID RTR
0x180+
1
Node-ID
TxPDO2 RTR message data
COB-ID RTR
0x280+
1
Node-ID
TxPDO3 RTR message data
COB-ID RTR
0x380+
1
Node-ID
TxPDO21 RTR message data
COB-ID RTR
0x480+
1
Node-ID

7.3.3. SYNC communication

When set SYNC type into TxPDO Transmission type (0x1800, 0x1801, 0x1802, 0x1814 subindex 02) or RxPDO
Transmission type (0x1400, 0x1401, 0x1402, 0x1414 subindex 02), update command or send monitor data
synchronously to the SYNC message.
And send SYNC message with count data, the drive SYNC counter are preset with SYNC counter data.
When the drive is reset, the SYNC count data in the drive is cleared.
SYNC send data
COB-ID RTR
0x080 0
SYNC send data with count data
COB-ID RTR
0x080 0
*1: [VF-S15] If the value is set more than the transmission type of PDO, the PDO is updated after next SYNC.
[VF-AS3] If the value is set more than the transmission type of PDO, the PDO is updated at the same time.

7.3.4. Emergency object

The drive sends the Emergency message at the drive detects fault condition or CANopen communication
node state is changed.
Emergency send data
COB-ID RTR
0x080+
0
Node-ID
*1: If VF-AS3 is used, this under lined sentence is substituted to "or first connection or after reset, after Reset
Node, after Reset Communication.
DLC Data0 Data1
0 --- ---
DLC Data0 Data1
0 --- ---
DLC Data0 Data1
0 --- ---
DLC Data0 Data1
0 --- ---
DLC Data0 Data1
0 --- ---
DLC Data0 Data1
Count
1 ---
*1
*1
About Error code, refer to the "6.1.1 Object 0x603F: Error Code"
DLC Data0 Data1
Emergency
Error Code
8
L H
Data2 Data3 Data4
--- --- ---
Data2 Data3 Data4
--- --- ---
Data2 Data3 Data4
--- --- ---
Data2 Data3 Data4
--- --- ---
Data2 Data3 Data4
--- --- ---
Data2 Data3 Data4
--- --- ---
Data2 Data3 Data4
Manufacture specific error field
Error
Register
- 38 -
E6581911
Data5 Data6 Data7
--- --- ---
Data5 Data6 Data7
--- --- ---
Data5 Data6 Data7
--- --- ---
Data5 Data6 Data7
--- --- ---
Data5 Data6 Data7
--- --- ---
Data5 Data6 Data7
--- --- ---
Data5 Data6 Data7