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ASDA-A3

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CANopen Mode

The following figure shows the timing sequence between the servo drive TxPDO transmission

and the controller SYNC transmission. The servo drive transmits the TxPDO data to the

controller as soon as it receives the SYNC.

SYNC

message

Communication

cycle

SYNC

message

12

Objects mapped in

synchronous TxPDO

Objects mapped in

synchronous TxPDO

12.2.2.5 Emergency object (EMCY)

When the servo detects an abnormality, it sends an alarm and notifies the controller with the

Emergency object. The Emergency object can transmit only one alarm at a time. When a higher

priority alarm occurs before the previous lower priority alarm is cleared, the higher priority alarm

overwrites the previous alarm and is transmitted to the controller as an Emergency object.

Controller

COB-ID

80

Packet (8 bytes in total)

0 1 2 3 4 567

Servo

drive

Error code

Byte 0

Byte 1

Refer to Section 13.5.2 for details of the

error code.

Error register

Byte 2

OD 1001h

Servo alarm

Byte 3

Refer to Chapter 14

for details.

N/A

Bytes 4 - 7

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