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
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
SYNC send data with count data
*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.
*1
About Error code, refer to the ”6.1.1 Object 0x603F: Error Code”
Emergency send data
Manufacture specific error field
*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.
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