JVL MIS17 Series User Manual page 281

11.4
Name
Guard time
Life time
factor
Heartbeat
time
Identity
object
11.4.2 Emergency object
The EMCY (emergency) object is used to transfer an error message to the CANopen
master, or also to another node which can process the error message. The reaction on
the emergency object is not specified. An emergency object is transmitted only once per
"error event".
The MIS motor (or SMC66/85) supports the EMC object (Emergency).
The following error codes can be generated:
Error code 1001h: Generic error - Motor error
Error code 1002h: Generic error - Position error
Error code 1003h: Generic error - Follow error
Error code 1004h: Generic error - Low
Transmit PDO25:
Use Transmit PDO25 in asynchronous mode to read the status of the error.
In the MIS motor (or SMC66/85), no error control is enabled when the motors (or
SMC66/85) are started up because if there is any fault in the system, it is impossible to
get in contact with the unit. After the unit has started up and there is communication be-
tween the master and the slave, turn on the required error control mechanism in the
communication objects, see
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Objects in the DS301 standard
Index Sub Data Type
Index
(hex)
100C UNSIGNED16
100D UNSIGNED8
1017 UNSIGNED8
1018 IDENTITY
0 1 to 4
1 UNSIGNED32
2 UNSIGNED32
3 UNSIGNED32
4 UNSIGNED32
DS301 specified Communications
Read Default Description
only
Informs about the Guard time in
milliseconds. Is only mandatory if
the module does not support
heartbeat
Is the factor that guard time is multi-
plied with to give the life time for
the node quarding protocol
If the Heartbeat timer is not 0,
Heartbeat is used.
Contain general information about
X
the module
X 4h Number of entries. Mandatory
Vendor ID, contains a unique value
X 0x0117 allocated to each manufactor. 117h
is JVLs vendor ID. Mandatory.
Product Code, identifies a specific
X 0x0200 device version.
MISxxx has the product code 300H.
X Revision number.
X Serial number
objects, page 280.
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