Table of Contents
Advertisement
CANopen protocol description
always the first sub-index on the error field list. When all active errors are cleared, an empty EMCY
object is transmitted.
If a drive-internal fault occurs, the MSEF field contains the drive fault code. See the application and
user manual for possible fault codes. The ER field holds a bit coded value of the error type. See
object 0x1001 for more details.
Table 14: EMCY message
CAN ID
LENGTH
0x80 +
0x8
Node ID
Table 16: Used EMCY error codes and description MSEF fields
DATA0
DATA1
0x0000
0x1000
0x8110
0x8120
0x8130
0x8140
0x8210
0x8220
0x8240
0x8250
Table 17: Description and behavior of different error situations
EEC
Description
Error Reset or No Error
0x0000
Generic Error
0x1000
CAN in Error Passive
0x8120
Mode
Life Guard Error
0x8130
Heartbeat Error
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
DATA0
DATA1
DATA2
EEC
ER
Table 15: EMCY message data fields
EEC
Emergency error code
ER
Error register value
Manufacturer-specific
MSEF
error code
DATA2
DATA3
DATA4
3: Number of remaining error sources
3: Heartbeat consumer subindex
4: Heartbeat consumer node-ID
ER
Error behaviour
If MSEF field is empty all error sources are cleared and drive
fault is cleared.
Drive fault codes have changed.
EMCY is sent after CAN driver goes back to active state. This
also clears the fault.
Error is reset when a RTR is received or either of the life
guard objects (0x100C, 0x100D) is written to zero.
Error is reset when a HB message is received by the HB con-
sumer, or the consumer entry is changed (either Node-ID or
Heartbeat Time).
DATA3
DATA4
DATA5
MSEF
DATA5
DATA6
Drive fault codes
-
-
-
-
-
-
-
vacon • 13
DATA6
DATA7
DATA7
Err LED
-
-
Single flash
Double
flash
3
Advertisement
Table of Contents
