Emcy Object - Vacon OPTE6 User Manual

CANopen protocol description
Table 10: Node guarding RTR frame (remote request)
CAN ID LENGTH
0x700 +
0x0
Node ID
Table 11: Node guarding response
CAN ID LENGTH
0x700 +
0x1
Node ID
3.3.3

EMCY object

Option board works as an EMCY producer. The EMCY object is transmitted when a fault occurs in
the drive or option board. To switch off the EMCY producer, disable the EMCY COB-id by writing MSB
bit to 1 (object 0x1014).
When an error occurs, the EMCY message is transmitted with the current value of the error
register and the error code is inserted into the pre-defined error field list. The newest error code is
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.
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RTR DATA0 DATA1
1
DATA0 DATA1
t Status
Table 12: Node guarding slave status
Status
Value Description
0x4 Stopped
0x5 Operational
0x7F Pre-operational
Table 13: Node guarding related objects in OD
Index Description
0x100C Guard time
0x100D Life time factor
DATA2 DATA3 DATA4
DATA2 DATA3 DATA4
vacon • 11
DATA5 DATA6 DATA7
DATA5 DATA6 DATA7
3