User Manual CANopen/EtherCAT
61
[Chapter 10]
10 Emergency Objects
byte 0 1 2 3 4 5 6 7
Bit: 0 ... 15 16 ... 23 24 ... 39 40 ... 47 40 ... 47 48 ... 63
Profile Device Profile DS402 Drive controller
Error
Emergency error
code as per
DS402
Error
register
(Object
1001 h)
Error
number
Error
location
Operating hours meter
(in full hours)
Table Emergency telegram
The decisive factors for rapid localization are the error code and error location. In byte
3 of the emergency telegram you will find the error code, which provides an initial
categorisation of the cause of the error. The precise cause of the error is specified by the
error location in byte 4. Bytes 5, 6 and 7 contain the internal operating hours meter of
the device.
CANopen errors - i.e. incorrect configurations, bus disturbances etc. - are indicated by
error code 0xFF00.
Note: When an error occurs the controller executes a response as per the pa-
rameterised error response. These can be set separately for individual errors.
Note: The state displays of the 7-segment display are explained in the Appli-
cation Manual.
10.1 Error acknowledgement, general
Device errors can be acknowledged by the following mechanisms:
Control word bit 7, edge-controlled
Control input with programmed reset functionality
Hardware enable ENPO to control terminal
Operation via two buttons
Drive Manager user interface
Writing the value 1 to parameter 153 MPRO_DRVCOM_FaultReset by way of the
control unit or bus system
Note: For a detailed list of all error messages together with remedial messa-
ges refer to the Application Manual ServoOne on our product CD.
10.2 Error acknowledgment via bus system
Another possibility is offered by the object 6040 h Control Word:
Draft 402 6040h VAR Control word Integer16 rw M
An error acknowledgement is executed by a rising edge at bit 7 in the control word.
Resetting of the error is signalled by transmission of the following emergency message:
ID Data bytes Description
Emergency 00 00 00 00 00 00 00 00
Emergency message acknowledgment
error
Table Error acknowledgement
If the cause of the error is not eliminated, the drive controller returns to the error state
after transmission of another emergency message.
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