Emergency Object (Emcy) - TDE MACNO MINIOPD EXP User Manual

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4.2.3 EMERGENCY OBJECT (EMCY)

The emergency object is transmitted by the drive when a new enabled alarm comes trough or when
one or more alarms are reset. The Emergency telegram is made by 8byte as shown in the following
table:
Byte
meaning
In our implementation only two codes of the error code are implemented :
00xx = Error Reset or No Error
10xx = Generic Error
Speaking of the Error register (object 1001h), the following bits are managed corresponding to the
following alarms:
Bit Meaning
0 General error
1 Current
2 Voltage
3 temperature
In Manufacturer specific only the bytes 3 and 4 are assigned which contain the state of the various
alarms of the drive. Further 3 bytes for the transmission of possible other user's data are available.
The management of 1003h "pre-defined error field " object memorises the chronology of the alarm
events (from start up of the drive) up to a maximum of 32 elements.
At every new alarm event 4 bytes are memorised, 2 are mandatory and correspond to the Error
Code; the other 2 are Manufacturer specific and in our specific case correspond to the state of all the
drive alarms.
MSB
Additional information
alarms MSB
4.2.4 NETWORK MANAGEMENT OBJECTS (NMT)
This function allows the NMT master to check and set the state to every NMT slave.
All the services of Module Control and also the Node Guarding Protocol which uses the COB-ID =
700h + ID CAN node are implemented: this allows the slave to communicate that the bootup ended
and the pre-operational modality is active, thus the master can interrogate the different slaves with an
RTR.
The Life guarding function is implemented as well: the drive (NMT slave) can be set up by the
objects:
100Ch Guard time in ms
100Dh Life time factor (multiplier factor)
User's manual
0 1 2
Emergency Error
Error Code register
alarms LSB
3 4 5
Manufacturer specific
alarms LSB –MSB
Corresponding alarms
all
A3
A10 - A11 -A13
A4 - A5 - A6
Error code
Error code MSB Error code LSB
their product yields the Node life time
note: node life time is internally saturated in the
period time of 32767/fpwm sec.
6 7
LSB
83