JVL MAC050 User Manual page 137

4.4 Expansion Modules MAC00-FC2/FC4
Note to "device type" (index 1000).
The device type register is composed of 2 16-bit registers, one register describes which
device profile the module is supports, and the other state which type of motors the mod-
ule is supports, and possible I/O module. The default value 0192h inform that the
DSP402 Device profile are supported, and the value 0002h announce that the MAC00-
FC2/FC4 module supports servo drives.
4.4.21 Emergency object
The EMCY (emergency) object is used to transfer an error message to the CANopen®
master, or also to another node which can process the error message. The reaction on
the emergency object is not specified. An emergency object is transmitted only once per
"error event"
The MAC00-FC supports the EMC object (Emergency).
The following error codes can be generated:
Errorcode 1001h: Generic error - Motor error
Errorcode 1002h: Generic error - Limit switch error
Errorcode 1003h: Generic error - Internal communication error
Errorcode 1004h: Generic error - Queue overflow in communication queue.
The EMCY object 1001h are sent as an 8 bit header, an have the following structure:
Byte 0
CANopen®
error code:
MSB 10
Byte 0-1:
Shows which Generic error the module is sending.
Byte 2:
Error register. In the error register it is indicated to which error class the error belongs.
Motor status table:
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Byte 3-4:
The ERR_STAT register is located in the motor, not in the MAC00-FC2/4 module, but
the SendEmc01 message is sent from the module firmware whenever it receives a status
byte from the motor where the error-bit is set, it then reads register 35 from the motor.
When the error is no longer present, the module will send a NoError EMCY object once.
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Byte 1 Byte 2
CANopen® CANopen®
error code: 8-bit error
LSB 01 register
Overload
Follow error
Function error
Regenerative error
In position
Accelerating
Decelerating
Position
Byte 3 Byte 4
MAC motors MAC motors
ERR_STAT ERR_STAT
MSB 16-bit LSB 16-bit
error register error register
Byte 5 Byte 6 Byte 7
Reserved
133