Stober SC6 Series Operating Manual

9 | Looking for more information about EtherCAT? STOBER
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02/2020 | ID 443025.06
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
Axis
The value NO ERROR is transmitted in bytes 1 – 4.
Byte 8 indicates which axis is affected. If the value is 0, the fault originates from axis A or the global part of the drive
controller. If the value is 1, the fault originates from axis B.
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 [}86]).
9.4 EtherCAT state machine
The EtherCAT state machine (ESM) controls the different operating states of an EtherCAT slave along with any potential
state change. Different functions can be carried out in the EtherCAT slaves depending on the individual states.
Safe-Operational
Pre-Operational
Operational
Init
(PI)
(SI)
(OI)
(OP)
(PS) (SP)
(OS)(SO)
(IP)
Fig.11: EtherCAT state machine – Potential operating states and state changes

Stober SC6 Series Specifications

General

Brand	Stober
Model	SC6 Series
Category	Controller
Language	English