Emcy - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.7

EMCY

The EMCY function notifies other nodes (2) of an error that occurred in the own node (1). The own node sends an EMCY
message to other nodes when it detects an error. The own node can also receive EMCY messages from other nodes.
(1)
: EMCY message (broadcast)
Function details
The RJ71CN91 automatically sends an EMCY message when an error occurs in the own node. EMCY messages can be sent
at any timing.
EMCY messages received from other nodes can be read manually from the buffer memory. EMCY messages can be
registered as events in the event history.
An EMCY message notifies of the following three types of information.
• Emergency error code (2 bytes) ( Page 51 Emergency error codes)
• Error register (1 byte) ( Page 206 Error register)
• Manufacturer-specific error code (5 bytes) ( Page 52 Manufacturer-specific error code)
■Setting method
The minimum time for the interval for sending an EMCY message can be set with the inhibit time parameter.
For details, refer to the following.
Page 208 Inhibit time EMCY
■Emergency error codes
The following table lists the emergency error codes.
: Send, : Not send
Error code Description
0000H Error reset or no error
1000H Generic error
2000H Current
2100H CANopen device input current
2200H CANopen device internal current
2300H CANopen device output current
3000H Voltage
3100H Power supply voltage
3200H CANopen device internal voltage
3300H Output voltage
4000H Temperature
4100H Ambient temperature
4200H Device temperature
5000H CANopen device hardware
6000H CANopen device software
6100H Internal software
6200H User software
6300H Set data
7000H Additional module
(2)
(2)
1
Transmission in
the RJ71CN91
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1 FUNCTIONS
51
1.7 EMCY