02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-59
Error code
(hex)
Meaning MC error MC alarm Error text /
description
FF31
No position has programmed in
MDI mode
A166 Position MDI does not exist
FF32
No velocity has been
programmed in MDI mode
A167 Velocity MDI does not exist
FF33
G91 not allowed with MDI on
the fly
A168 On-the-fly MDI with G91 illegal
FF34
Start conditions for flying MDI
do not exist
A169
Start condition for on-the-fly
MDI does not exist
FF35 Negative overtravel reached A195
Software limit switch approach
in negative direction
FF36 Positive overtravel reached A196
Software limit switch approach
in positive direction
8.5.5 Life guarding / node guarding
MASTERDRIVES with CANopen supports life and node guarding.
After objects 100Ch (guard time) and 100Dh (life time factor) have been
set, the MASTERDRIVES is ready to receive the first node guarding
message. The monitor in the MASTERDRIVES is activated as soon as
the first message has been received.
If the MASTERDRIVES has received a node guarding message, it
returns the life guarding message using the same identifier. The
MASTERDRIVES toggles the highest bit in every transmitted life
guarding message, thereby indicating to the master that it is still alive.
In turn, the MASTERDRIVES monitors the CANopen master and waits
for the time set in object 100Ch multiplied by the number in object
100Dh.
When this time period has expired, the MASTERDRIVES switches to
the state set in parameter P719, see Subsection 8.5.2.1.
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