coval LEMCOM Series - 2004 H - Control Fault (ASC) Information

LEMCOM CANopen® – User manual Detailed description of CANopen objects
COVAL – LMCOP-EN-A-1155UM0068 29/49
12.6 2004h – “Control fault (ASC)” information
Object 2004h is used to return the state of the “Control fault” signal for each module on the island.
This signal allows the switchover to continuous suction on the Venturi pump to be detected in case
of vacuum leakage (vacuum network fault, porous surface of product handled, deteriorated suction
cup).
Client (master)  server (LEMCOM)
CAN-ID
(600h+ID)
620h
Command
40h
Object L
04h
Object H
20h
Subindex
00h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
(580h+ID)
5A0h
Command
4Bh
Object L
04h
Object H
20h
Subindex
00h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The “Part lost” signal states of all the modules are indicated by Byte 1 – Byte 0:
Byte 0
Byte 1
ASC_FAULT signal state
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Module address
7
6
5
4
3
2
1
0
15
14
13
12
11
10
9
8