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5 EtherCAT Communications
GX-series EtherCAT Slave Unit User’s Manual
5-7 Emergency Messages
5
5-7-1 Emergency Message Notification
5-7 Emergency Messages
GX-series EtherCAT Slave Units are able to notify emergency messages to the EtherCAT Master Unit
by using the SDO communications if they detect errors.
It is possible to set whether or not to notify emergency messages via the SDO communications.
Target indexes are sub-index 05 hex: (Flags) in 10F3 hex (Diagnostic History).
The setting values are shown in the table below.
When the power to it is turned on, a Slave Unit always starts up in the "Not notify" setting. If you want to
use a Slave Unit in the "Notify" setting, set it to "Notify" each time you turn on the power.
Note that an emergency message cannot be sent during an EtherCAT communications errors are
occurring.
Precautions for Correct Use
For unit version 1.0 of the GX-series Digital I/O Slaves, Analog I/O Slaves, and Encoder Input
Slaves, the slaves will start when the slave power supply is turned ON and notification is
enabled.
An emergency message is composed of 8-byte data as shown below.
For contents of emergency message, refer to "12-1-5 Emergency Error Code" in page 12 - 19.
For contents of Sysmac error status codes, refer to "12-1-4 Sysmac Error Status Codes" in page 12 -
14.
5-7-1 Emergency Message Notification
Set value Emergency message notification
0000 hex Not notify.
0001 hex Notify.
Byte 0 1 2 3 4 5 6 7
Contents
Emergency
error code
Error register
(Object 1001 hex)
Reserved. Sysmac error status code
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