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3
CANopen access procedure
3.5.2
Structure of the EMERGENCY Message
When an error occurs, the motor controller transmits an EMERGENCY message. In a default case
(
Object 6510_F0), the identifier of this message is made up of the identifier 80
the relevant motor controller.
The EMERGENCY message consists of eight bytes, whereby the first two bytes contain an error_code
(see the following table). An additional error code is in the third byte (object 1001
bytes contain zeros.
Identifier: 80
+ node ID
h
81
8
h
Data length
error_register (R0)
Bit
M/O
0
M
1
O
2
O
3
O
4
O
5
O
6
O
7
O
Values: 0 = no error; 1 = error present
1) M = required / O = optional
Tab. 3.7 Bit assignment error_register
The error codes as well as the cause and measures can be found in chapter A " Diagnostic messages".
3.5.3
Description of the Objects
Object 1001
: error_register
h
The error type defined in the CiA 301 can be read via the object error_register.
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
34
Error_code
E0
E1
1)
Meaning
generic error: Error present (OR operation of bits 1 ... 7)
2
current: I
voltage: Voltage monitoring error
temperature: Motor over-temperature
communication error: (overrun, error state)
device profile specific
reserved, fix = 0
manufacturer specific
00
h
error_register
UINT8
ro
yes
–
0 ... FF
h
0
R0
0
0
0
Error_register (obj. 1001
t-error
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
and the node ID of
h
). The remaining five
h
0
0
)
h
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