Stober EtherCAT SD6 Series User Manual

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02/2020 | ID 442516.07
10.3.3 Emergency objects – EMCY
Emergency messages are triggered in the EtherCAT slave in the event that device-internal errors or faults occur and
transferred to the EtherCAT master using the mailbox channel. EMCY messages are specifically initiated by incorrect
parameterization of the SyncManager when starting the EtherCAT system, in the event of an incorrect state change within
the EtherCAT state machine or in the event of a change in or out of the Fault device state.
An EtherCAT slave constantly watches its own device state. If it switches to the Fault state, it transmits exactly one EMCY
message with the associated error code.
If the fault is acknowledged, the slave leaves the fault state and sends an EMCY message with the error code NO ERROR .
This mechanism automatically notifies the EtherCAT master of when a slave enters and leaves the fault state and of the
associated cause for the fault.
EMCY message: Switch to the fault state
In accordance with the CANopen standard, an EMCY message is structured as follows when switching to the fault state.
Byte 1 2 3 654 7 8
Master Slave
EMCY
error code
Error
register
E82
E43
Free
43 00 000x10 0x01 0x29
The values of the STOBER-specific parameters E82 Event type and E43 Event cause are transmitted in the 4th and 5th bytes.
You can find a table with the potential encodings for an EMCY message in the appendix (see the chapter EMCY message –
Device fault: Error codes [}83]).
EMCY message: Exiting the fault state
In accordance with the CANopen standard, an EMCY message is structured as follows when exiting the fault state.
Byte 1 2 3 654 7 8
Master Slave
EMCY
error code
Error
register
E82 E43 Free
00 00 0000 00 0x1E
The value NO ERROR is transmitted in bytes 1 – 4.
EMCY message: Incorrect state transitions
If an error occurs during the state transitions within the EtherCAT state machine, the EtherCAT slave sends a corresponding
EMCY message with the associated error code to the EtherCAT master. In accordance with the CANopen standard, an EMCY
message is structured as follows in the event of a state change.
Byte 1 2 3 654 7 8
Master Slave
EMCY
error code
Error
register
Diag
code
Diag data 1, 2
0xA0 00 000x00 0x01 0x02
Diag data diagnostic data refers to dynamic parameters that are also provided by the firmware. This data is important for
diagnostic purposes in the case of support.
You can find a table with the potential encodings for an EMCY message in the appendix (see the chapter EMCY message –
Incorrect state transitions: Error codes [}82]).

Stober EtherCAT SD6 Series Specifications

General

Brand	Stober
Model	EtherCAT SD6 Series
Category	Controller
Language	English