Object Dictionary Details - Mitsubishi Electric MELSEC iQ-R Series User Manual

Object dictionary details

Error register
• Index: 1001H
This object provides error information. The CANopen node maps internal errors into this object. It is part of the EMCY
message.
• b0: Generic error
• b1: Current
• b2: Voltage
• b3: Temperature
• b4: Communication error (overrun error state)
• b5: Device profile specific
• b6: Fixed to 0
• b7: Manufacturer specific
The RJ71CN91 uses b0, b4, and b7. However, EMCY message transmission commands are excluded.
Bit b0 of this object will turn on if the EMCY error code value is larger than 00FFH.
This object can be cleared by Pre-defined error field (index 1003H). ( Page 206 Pre-defined error field)
Bits of this object can be set by the EMCY message transmission command. ( Page 53 When sending a message
manually)
Pre-defined error field
• Index: 1003H
• Subindex: 01H to 02H
This object provides the errors that occurred in the RJ71CN91 and were notified via the EMCY message.
■Subindex 00H: Number of errors
This indicates the number of errors occurred. Setting this subindex to 0 clears all the emergency error codes stored in
subindexes 01H to 0FH. Any value other than 0 cannot be used.
■Subindexes 01H to 0FH: Standard error field
A maximum of 15 latest emergency error codes sent by the RJ71CN91 are stored. EMCY messages are stored in the order
starting from 01H. ( Page 51 Emergency error codes)
The data type of this object is U32. For that reason, when a manufacturer-specific error code is received, only the upper 2
byte-portion is stored. (Example: 4D45H)
COB-ID of SYNC message
• Index: 1005H
Set the COB-ID of the SYNC message. To quickly execute synchronization, the SYNC message is given a high priority CAN-
ID.
Bit Item
b0 to b10 11-bit CAN-ID
b11 to b29 Fixed to 0
b30 gen.
b31 System area
*1 To generate a SYNC message, the CANopen node must be the active NMT master.
Set Communication cycle period (index 1006H) before setting b30 of this object to 1.
APPX
206
Appendix 3 Object Dictionary
Description
11-bit CAN-ID of the CAN base frame
0: Don't generate SYNC message
*1
1: Generate SYNC message