Diagnostics; Error Information; Object 0X1001: Error Register; Table 62: Bit Coding Of Error Register Value - Moog RKP-D User Manual

8 Diagnostics

8 Diagnostics
If the RKP-D recognizes a malfunction, a self-diagnosis is performed. The fault reaction is dependent on the
identified malfunction and the fault reaction parameter setting (0x2830).
If an error occurs and a fault reaction is activated, an emergency object is sent out. The emergency object
contains information about the occurred error. The error register holds information about the last occurred er-
ror.
The predefined error field (0x1003) further allows a more detailed analysis on the occurred failures, where er-
rors are recorded chronologically.
The diagnostics chapter describes the diagnostic capabilities of the RKP-D. Various faults are detected. A list
of all detected faults is shown in Table 63. There is the possibility to assign a fault reaction. The different fault
reactions are listed in Table 64. The occurred faults are recorded in chronological order.

8.1 Error information

8.1.1 Object 0x1001: Error register

The error register displays the error status of the device in bit-coded form. Bit 0 is set as soon as an error oc-
curs on the device.
The exact cause of the error can be determined by means of the <PreDefinedErrorField> object (0x1003).
The error code of the error occurred last is stored to subindex 1 of the <PreDefinedErrorField> object. The
number of actual errors recorded is written to subindex 0 of the <PreDefinedErrorField>.
ErrorRegister
Index Subindex
0x1001 0
The error register specifies the error type according to the following table, where a 1 indicates the specific er-
ror type:
© Moog GmbH
Name
ErrorRegister
Bit Description
0 Generic error
This bit is set every time an error occurs on the device
1 Current error
2 Voltage error
3 Temperature error
4 Communication error
5 Device profile
6 Reserved
7 Reserved

Table 62: Bit coding of error register value

USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
Data type Access Persistence
UINT8 ro N
Error information
Value range Default
UINT8 0x00
109