Schneider Electric DS301 manual Emergency service, Error message with the Emcy object

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IL•1F CANopen DS301

3 Basics

0198441113586, V2.01, 11.2008

3.4.2.5Emergency service

The Emergency Service signals internal device errors via the CAN bus. The error is sent to all network devices with an EMCY object according to the "Consumer-Producer" relationship.

	EMCY-Consumer	EMCY-Consumer
COB-ID	data
		CAN
EMCY-Producer		EMCY-Consumer

Figure 3.23 Error message with the EMCY object

EMCY message Causes of an EMCY comprise:

•asynchronous errors, error code = 1000hIn the case of an internal device error, the product switches to fault state in accordance with the device's state machine. At the same time, the product transmits an EMCY message with error register and error code.

•PDO4 error during operating mode control, error code = 8200h If the request for an operating mode via PDO4 fails, the product also sends an EMCY message.

•CAN communication error, error code = 8100h

0	1	2	3	4	5	6	7
81	22	00	00	00	00	00	00
12

	Manufacturer specific error field
Error register
Error code	Error code	0	1
COB-ID (80h+ Node-ID)		12	22

22 12h

Figure 3.24 EMCY message

•Bytes 0, 1 (error code): CANopen error codeThis value is 1000, 8200h or 8100h, depending on the cause of the error.

•Byte 2: Error registerThe value is also stored in the object Error reg- ister, 1001h.

•Byte 3 (Manufacturer-Specific Error Field):Manufacturer-specific error, error class

Bytes 6 and 7 are 0. Bytes 4,5 contain a manufacturer-specific error number.See the product manual for a list of the error numbers.

COB ID The COB ID for every device on the network supporting an EMCY object is determined on the basis of the node address:

COB ID = Function code of EMCY object, 80h + Node-Id

Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 About this manual IntroductionCAN-Bus Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Communication layers BasicsCANopen technology CANopen description languageIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesObject dictionary Communication profileIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Master slave relationships Communication relationshipsClient-server relationship Overview Service data communicationSDO data exchange 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4 Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesInitialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit dataReading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingMessage objects Error diagnostics via fieldbusMessages on the device status Bit Message Meaning CANopen error messagesError register Error code tableError code Meaning SDO error message AbortData type Value range Data length Specifications for the objectsObject directory Object code Meaning CodingObjects, overview Index Subindex Designation Obj. code Data type AccessObjects of the product Error registerDevice type 100Ch Bit coding, subindex 00h1008h Manufacturer device nameIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit Acces Value Meaning Bit assignment subindex 01hBit 30 RTR bit Bit coding, subindex 02h1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryMoment of inertia TemperatureRotation TorqueTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface