JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 49
3.4 EtherCAT® objects
Continued
For a more comprehensive description of the MAC motor errors, please refer to the
motor manual - LB0047-xx - chapter 2.7 and search for the firmware name.
The MAC manual can be downloaded using this link: www.jvl.dk...
The structure of the EMCY object is shown in the table below:
3.4.5 Object Dictionary
An important part of the CoE protocol is the Object Dictionary, which is different objects
specifying the data layout. Each object is addressed using a 16-bit index and possibly a sub
index. There are some mandatory objects and some manufacturer specific objects. The
objects in the CoE Object Dictionary can be accessed with SDO services.
CANopen
Error code
Firmware name
Short description
Applicable to motortype
MAC050-
MAC141
MAC400-
MAC4500
MISxxx
MILxxx
0x8680 PLIM_ERR Position limit exceeded X X X
0x8681 NL_ERROR Neg. limit switch exceeded X X X
0x8682 PL_ERROR Pos. limit switch exceeded X X X
0x8780 SYNC_ERROR
PLL has lost synchroniza-
tion to external sync signal.
- X -
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
CANopen®
error code:
MSB (0x10)
CANopen®
error code:
LSB (0x01)
8-bit error
Register =
object
0x1001
MAC motor
ERR_STAT
LSB
MAC motor
ERR_STAT
MAC motor
ERR_STAT
MAC motor
ERR_STAT
MSB
Reserved
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