02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-55
8.5.4 Faults and alarms
When a fault occurs on the MASTERDRIVES, the CBC sends an
EMERGENCY message on the bus.
These errors are listed in Subsection 8.5.4.2 with CANopen error code,
error register, MASTERDRIVES errors and alarms and a brief
description of the error.
All objects which are associated in some way with faults or alarms are
described below.
8.5.4.1 Structure of object 1003
h
(pre-defined error field)
Object 1003
h
(pre defined error field)
♦ Subindex 0
Number of error entries
Type
Uinteger8
Access
rw
PDO mapping
No
♦ Subindex 1
Error code
The error code of the most recent error is stored in subindex 1.
The content of this object (subindex 1) is transferred in the
emergency message. The meaning of the error code is specified
in the error table in Subsection 8.5.4.2.
Structure of an emergency message
Type
Uinteger8
Access
rw
PDO mapping
No
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error code Error code Error
register
Alarm
number
Error
number
Reserve Error
value
Error
value
The CANopen error code is transferred in bytes 0 and 1.
The error register in byte 2, as with object 1001h.
The MC alarm number assigned to the error code is displayed in byte
3.
The MC error number which produces this error code is displayed in
byte 4.
In bytes 6 and 7, the error value for initialization error F151 or the
identifier of the PDO with an insufficient number of databytes (A86) is
displayed on MASTERDRIVES MC without F01.
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