ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 34)

5.3.3 The Asynchronous Trigger
Asynchronous triggers are defined in the device-specific protocol (such as DSP-402) or by
the Elmo manufacture-specific object 0x2F20.
When the device-specific protocol is used, the transmission type is 255 and the
asynchronous behavior is defined in the object description.
A transmission type of 0 means that the message is transmitted acyclically (not
periodically), after the occurrence of the SYNC, only if an event occurred before the
SYNC.
When the Elmo manufacture-specific object is used, each sub-index of object 0x2F20
defines trigger events for a single TPDO. The settings for the object go into effect only if
the TPDO communication parameters are set to transmission type 254, and if the TPDO is
correctly mapped. The Elmo drive treats transmission type 254 and transmission type 255
alike.
5.3.4 RPDO Error Handling
When an RPDO fails to be interpreted, an emergency message is transmitted.
Several objects may be mapped into the same RPDO. The EMCY message identifies the
objects that failed. A failure occurs when the received data cannot be interpreted or
executed.
In some cases, the Elmo error code is produced and may be included in the EMCY
message.
The general emergency message structure is as follows:
0
1
Error code
2 Error register
3 Elmo error code, for PVT/PT and RPDO messages only (refer to the SimplIQ
Software Manual)
4
5 Error code data field 1
6
7 Error code data field 2
In case of an RPDO:
Error code field: 0x6300
Error register: 0x01
Elmo error code: 0 – RPDO failed without a relative error
> 0: RPDO failed with this error code
CANopen DS 301 Implementation Guide Process Data Objects (PDOs)
MAN-CAN301IG (Ver. 2.1)
5-5