48 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
3.4 EtherCAT® objects
3.4.3 Service Data Objects (SDO)
Service Data Objects (SDOs) are mainly used for transferring non time-critical data, for
example, identification, configuration and acyclic data.
3.4.4 Emergency Objects
Emergency Objects (EMCYs) are used for sending fault information from the communi-
cation module and the motor to the EtherCAT® network.
They are transmitted whenever a fault occurs in the motor or in the module. Only one
Emergency Object is transmitted per fault. EMCYs are transmitted via SDO's.
When the error is no longer present, the module will send a NoError EMCY object once.
The following error codes can be generated:
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CANopen
Error code
Firmware name
Short description
Applicable to motortype
MAC050-
MAC141
MAC400-
MAC4500
MISxxx
MILxxx
0x0000 NO_ERROR No errors present X X X
0x2221 IPEAK_ERR
Peak error, motor over-
current
- X -
0x2222 PWM_LOCKED PWM locked - X -
0x2280 IX_ERR Phase error X - -
0x3120 UV_ERR Low AC voltage - X -
0x3210 OV_ERR Overvoltage on bus - X X
0x3220 UV_ERR Undervoltage on bus X - X
0x4210 DEGC_ERR Temperature too high - X X
0x5112 U24V Control voltage unstable - X
0x5380 INIT_ERR Self diagnostics failed - X X
0x5381 STO_ALARM_ERR Safe torque off alarm - X X
0x5382 FPGA ERROR Error in accessing FPGA - X -
0x5383 STO_TRIG STO triggered error X X
0x5580 FLASH_ERR Error in flash write - X -
0x5581 External Memory Memory error - - X
0x6320 OLD_FILTER Invalid filter settings - X -
0x7110 UIT_ERR Regenerative overload X X -
0x7305 INDEX_ERR Internal encoder error - X X
0x7306 ENC_LOSTPOS Abs. encoder lost position - - X
0x7307 ENC_REEDERR Abs. encoder reed error - - X
0x7308 ENC_COMMERR Abs. encoder com. error - - X
0x7580 SSI_ERR SSI encoder read error X - X
0x7581 INT_COM_ERR Internal com. error X X X
0x8180 COM_ERR Modbus com. Error - X -
0x8181 SLAVE_ERR Slave error - X -
0x8311 I2T_ERR Overload X X -
0x8331 FNC_ERR Function error X X -
0x8480 SPEED_ERR Overspeed - X -
0x8481 Closed Loop Closed loop error - - X
0x8611 FLW_ERR Follow error X X X
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