Siko AG06 - Emergency Object (EMCY); Error Code

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 46 of 114
Command code = Write Response = 60
h
Calculation of the identifier:
Identifier of the parameter channel from the actuator to the master = 580
h
+ device address
580
h
= 1408
dec
Identifier = 1408 + 5 = 1413 = 585
h
9.3.9 Emergency Object (EMCY)
In the case of an error, the node status is transferred via high-priority emergency messages
(emergency telegrams). These telegrams have a data length of 8 bytes and contain error
information.
The emergency telegram is transferred as soon as the actuator goes into the fault state (for
the causes of faults refer to chapter 7.2: Errors) or when a communication error has occurred
(see Table 27: Error-Code 8110
h
– 8140
h
).
Resolution of the cause of fault and resetting of the actuator with undoing the fault state are
signalled by sending of an emergency telegram with the error code 0000
h
(no error) (not
applicable to error code 8140
h
).
The cause of the fault is deposited in the fault buffer (see object 1003
h
).
Setup of the emergency telegram.
Identifier
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
11/29 Bit
Emergency Error
Code (see chapter
9.3.9)
Error
Register
(Object
1001
h
)
Manufacturer-specific error field (not used)
Table 26: Emergency protocol
The identifier of the emergency object is set to 128 + Node-ID by default; however, it can be
changed via object 1014
h
(see chapter 9.13.2: Description of objects). Transfer of an
emergency telegram is enabled in the NMT statuses 'OPERATIONAL' or 'PRE-OPERATIONAL' only!
9.3.9.1 Error Code
The following table contains the possible error codes of the emergency telegram.
Error Code
Meaning
Byte 0
(Highbyte)
Byte 1
(Lowbyte)
00
00
h
No error (no fault present)
Is sent after clearing the fault state (see chapter 7.2: Errors).
32
11
h
Control Overvoltage
The state machine was set to the 'Fault' state.
Fault is deposited in the fault buffer.
32
12
h
Power Overvoltage
The state machine was set to the 'Fault' state.
Fault is deposited in the fault buffer.