Vacon OPTE6 User Manual page 14

vacon • 12
Table 14: EMCY message
CAN ID
0x80 +
Node ID
Table 16: Used EMCY error codes and description MSEF fields
DATA0
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
0x8140 Recovered from Bus-Off
PDO timer expired
0x8250
3
LENGTH DATA0 DATA1
0x8 EEC
Table 15: EMCY message data fields
EEC
ER
MSEF
DATA1 DATA2
0x0000
0x1000
0x8110
0x8120
0x8130
ER
0x8140
0x8210
0x8220
0x8240
0x8250
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).
EMCY is sent after CAN driver goes back to active state. This
also clears the fault.
Error is cleared when a PDO is received (in expired PDO).
CANopen protocol description
DATA2 DATA3 DATA4
ER
Emergency error code
Error register value
Manufacturer-specific
error code
DATA3 DATA4 DATA5
3: Number of remaining error sources
Drive fault codes
-
-
3: Heartbeat consumer subindex
4: Heartbeat consumer node-ID
-
-
-
-
-
Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205
DATA5 DATA6 DATA7
MSEF
DATA6 DATA7
Err LED
-
-
Single flash
Double
flash
On
Quadruple
flash