JVL MAC050 - Page 201

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 197
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Note to “device type” (index 1000h).
The device type register is composed of 2 16-bit registers, one register describes which
device profile the module is supports, and the other state which type of motors the mod
-
ule is supports, and possible I/O module. The default value 0192h inform that the
DSP402 Device profile are supported, and the value 0002h announce that the MAC00-
FCxx module supports servo drives.
5.6.19 Emergency object
The EMCY (emergency) object is used to transfer an error message to the CANopen®
master, or also to another node which can process the error message. The reaction on
the emergency object is not specified. An emergency object is transmitted only once per
“error event”
The MAC00-FC supports the EMC object (Emergency).
The following error codes can be generated:
Errorcode 1001h: Generic error - Motor error
Errorcode 1002h: Generic error - Limit switch error
Errorcode 1003h: Generic error - Internal communication error
Errorcode 1004h: Generic error - Queue overflow in communication queue.
The EMCY object 1001h are sent as an 8 bit header, an have the following structure:
* Only MAC400, 402, 800, 1500 and 3000.
Byte 0-1:
Shows which Generic error the module is sending.
Byte 2:
Error register. In the error register it is indicated to which error class the error belongs.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 * Byte 6 * Byte 7
CANopen®
error code:
MSB 10
CANopen®
error code:
LSB 01
CANopen®
8-bit error
register
MAC motor
ERR_STAT
MSB 16-bit
error reg.
MAC motor
ERR_STAT
LSB 16-bit
error reg.
MAC motor
ERR_STAT
Bit 23:16
MAC motor
ERR_STAT
Bit 31:24
Reserved
Bit No. Error Class
Bit 0 Generic error. Mandatory
1 Current (not supported)
2 Voltage (not supported)
3 Temperature (not supported)
4 Communication (Overrun) - (not supported)
5 Device profile specific (not supported)
6 Reserved
7 Manufactor specific