Schneider Electric DS301 manual Error signaling via PDO4, Asynchronous errors

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6 Operation

IL•1F CANopen DS301

6.5Error signaling via PDO4

6.5.1Synchronous errors

If a request for an operating mode sent via R_PDO4 cannot be proc- essed by the product, the product rejects processing and sets modeStat, bit 6 ("ModeError") in the T_PDO4. This does not interrupt the current process. To determine the cause of the error, the master can read the error number from the object CAN.modeError, 30:11 with an SDO access.

Example The product rotates in Profile Velocity operating mode.

		Master <---	> Slave
Profile Velocity operating	T_PDO4	<---	driveStat	modeStat		p_act
modex_end = 0			0006h	04h		XXXXXXXXh
Request: Dimension setting to 0	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	82h	XXXXh	00000000h
Request rejected "ModeError" =	T_PDO4	<---	driveStat	modeStat		p_act
1			0006h	C4h		XXXXXXXXh

Table 6.8 Synchronous error, invalid operating mode request

NOTE: When the request for position setting is rejected, the product continues to run in Profile Velocity operating mode; there is no change.

However, the product sends an EMCY message with the corresponding error number to the master .

6.5.2Asynchronous errors

Asynchronous errors are triggered by internal monitoring (e.g. temper- ature) or by external monitoring (e.g. limit switch). If an asynchronous er- ror occurs, the product responds by braking or by disabling the power stage.

Asynchronous errors are indicated in the following way:

•Change to operating state 7 "Quick Stop" or to operating state 9 "Fault".

The change is represented in T_PDO4, driveStat, bits 0 ... 3.

•Setting of driveStat, bit 5 (fault detected by internal monitoring) or driveStat, bit 6 (fault detected by internal monitoring)

•In the event of an error message by internal monitoring:

Setting of the bit corresponding to the fault in object

Status.FltSig_SR, 28:18.

In the event of an error message by external monitoring:Setting of the bit corresponding to the fault in object Status.Sign_SR, 28:15

•In addition, an error number is assigned to each error. In the event of an asynchronous error, the corresponding error number can be read from the object Status.StopFault (32:7).

0198441113586, V2.01, 11.2008

72	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 Introduction About this manualCAN-Bus Operating modes and functions in fieldbus mode Fieldbus devices networked via can busDocumentation and literature references Can users and manufacturers organizationIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Basics CANopen technologyCANopen description language Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelCommunication profile Object dictionaryIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Communication relationships Master slave relationshipsClient-server relationship Service data communication OverviewSDO data exchange SDO message 11 SDO message, exampleReading and writing data Message type Data length used Bytes14 Reading a parameter value Message type Data length used Byte Bytes15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchangeUINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR =Receive PDO RPDO4 master slave Structure of RPDO4State machine drivectrl Operating modes modeCtrl JOG@ Warning Transmit PDO TPDO4 product to masterStructure of TPDO4 20 Structure of TPDO4Handshake with Mode Toggle Bit Bit Name Description22 Mode Toggle Handshake, short movement Master Slave XendBasics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy objectSynchronization 25 Sync message27 Cyclic and acyclic transmission Network management services NMT services for device controlNMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Troubleshooting Error Error class Cause of error TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Using SDO commands Writing parametersTransmit data Receive dataSynchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample 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 Position relative positioning Operating mode Profile VelocityPosition setting Master --- SlaveOperating mode Homing Error signaling via PDO4 Asynchronous errorsPositioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnosticsError diagnostics via fieldbus Message objectsMessages on the device status CANopen error messages Error registerError code table Bit Message MeaningSDO error message Abort Error code MeaningSpecifications for the objects Object directoryObject code Meaning Coding Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewError register Objects of the productDevice type Bit coding, subindex 00h 1008hManufacturer device name 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit assignment subindex 01h Bit 30 RTR bitBit coding, subindex 02h Bit Acces Value Meaning1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaningSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tablesTemperature RotationTorque Moment of inertiaDefault value Factory setting Terms and AbbreviationsPower amplifier See power stage Index CanIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface