Servosila-SC-25-Programming-Guide

Sending the commands too often might flood the network with unwanted messages, thus there is
a configuration parameter that controls the trade-off.
The flow of commands described in this section is applicable to both CAN and USB interfaces.
The format of the command messages is described later in this document. The format follows
CANopen standard (RPDO).
Receiving TELEMETRY from devices
Servosila SC25 Brushless Motor Controllers continuously (periodically) send telemetry
messages
3
back to a parent control system. The interval between telemetry messages is
configured via the “Servoscope” software tool. The telemetry messages are sent asynchronously,
and are not synchronized to commands or requests coming from a control computer.
The control computer should detect situations when telemetry messages stop coming from a
particular device. This event typically indicates either a network fault or a failure of the device.
The control computer generally should detect and handle such abnormal situations.
Note that CAN bus network does not guarantee delivery of telemetry messages. A running motor
controller is not aware of whether or not the parent control system is actually receiving its
telemetry. The control computer is not required to acknowledge receiving the telemetry
messages.
The flow of telemetry messages described in this section is applicable to both CAN and USB
interfaces.
The format of the telemetry messages is defined later in this document. The format follows
CANopen standard (TPDO).
3 The telemetry data is delivered as CANopen TPDO messages.
11 www.servosila.com
Control Computer / PLC Brushless Motor Controller
Continuous stream of
telemetry messages
telemetry message
telemetry message
telemetry message
...
The control computer
detects failure of a
controller or a network
connectivity issue by using
the telemetry messages as
heartbeats.