Emergency Object - Emcy - WEG CFW-11 Communications Manual

The PDO MAPPING for the transmission works in similar way than for the reception, however in this case the data
to be transmitted by the PDO are defined. Each mapped object must be put in the list according to the description
showed next:
For instance, analyzing the standard mapping of the fourth transmit PDO, we have:
Sub-index 0 = 2: This PDO has two mapped objects.
Sub-index 1 = 22A8.0010h: the first mapped object has an index equal to 22A8h, sub-index 0 (zero), and
a size of 16 bits. This object corresponds to the inverter parameter P0680, which represents the inverter logical
status.
Sub-index 2 = 22A9.0010h: the second mapped object has an index equal to 22A9h, sub-index 0 (zero),
and a size of 16 bits. This object corresponds to the inverter parameter P0681, which represents the motor
speed.
Therefore, every time this PDO transmits its data, it elaborates its telegram containing four data bytes, with the
values of the parameters P0680 and P0681. It is possible to modify this mapping by changing the quantity or the
number of mapped objects. Remember that a maximum of 4 objects or 8 bytes can be mapped.
NOTE!
In order to change the mapped objects in a PDO, it is first necessary to write the value 0 (zero) in the
sub-index 0 (zero). In that way the values of the sub-indexes 1 to 4 can be changed. After the desired
mapping has been done, one must write again in the sub-index 0 (zero) the number of objects that
have been mapped, enabling again the PDO.
5.4 Emergency Object – EMCY
The emergency object (EMCY) is used to signalize the occurrence of an error in the device. Every time that an error
occurs in the CFW-11 (short-circuit, overvoltage, communication failure, etc.), this object will send an emergency
message to the network. This message can be interpreted by an EMCY consumer (usually the network master),
which will be able to take an action according to the programmed for the application, such as performing an error
reset or disabling the other devices in the network.
Sub-index
Description
Access
Mappable
Range
Default value
Index Sub-index
(16 bits)
Figure 5.3 - EMCY
4
4th object mapped in the PDO
rw
No
UNSIGNED32
1A00h: 0
1A01h: 0
1A02h: 0
1A03h: 0
UNSIGNED32
Size of the object
(8 bits) (8 bits)