JVL MAC050 User Manual page 138

4.4 Expansion Modules MAC00-FC2/FC4
The EMCY object 1002h is sent as an 8 byte message, and has the following structure:
Byte 0
CANopen®
error code:
MSB 10
EMCY/object 1002h is sent when any of the HW end limits are active. No additional in-
formation in bytes 3-7.
The EMCY object 1003h is sent as an 8 byte message, and has the following structure:
Byte 0
CANopen®
error code:
MSB 10
EMCY/object 1003h is sent when internal communication between the module and the
motor has been disconnected.
The EMCY object 1004h is sent as an 8 byte message, and has the following structure:
Byte 0
CANopen®
error code:
MSB 10
EMCY/object 1004h is sent in case of overflow in the communications queue between
the module and the motor.
In MAC00-FC2/FC4 none of the error control is enabled then the modules are started
up, because if there is any fault in the system it is impossible to get in contact with the
module. After the module has started up and there is communication between the mas-
ter and the slave, then turn on the wanted error control mechanism in the object Dic-
tionary, see section 4.3.20.
134 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Byte 1 Byte 2
CANopen® CANopen®
error code: 8-bit error
LSB 02 register
Byte 1 Byte 2
CANopen@ CANopen@
error code: 8-bit error
LSB 03 register
Byte 1 Byte 2
CANopen® CANopen®
error code: 8-bit error
LSB 04 register
Byte 3 Byte 4 Byte 5
0 0 0
Byte 3 Byte 4 Byte 5
0 0 0
Byte 3 Byte 4 Byte 5
0 0 0
Byte 6 Byte 7
0 0
Byte 6 Byte 7
0 0
Byte 6 Byte 7
0 0