JVL MAC050 User Manual page 201

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Note to "device type" (index 1000h).
The device type register is composed of 2 16-bit registers, one register describes which
device profile the module is supports, and the other state which type of motors the mod-
ule is supports, and possible I/O module. The default value 0192h inform that the
DSP402 Device profile are supported, and the value 0002h announce that the MAC00-
FCxx module supports servo drives.
5.6.19 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 MAC00-FC supports the EMC object (Emergency).
The following error codes can be generated:
Errorcode 1001h: Generic error - Motor error
Errorcode 1002h: Generic error - Limit switch error
Errorcode 1003h: Generic error - Internal communication error
Errorcode 1004h: Generic error - Queue overflow in communication queue.
The EMCY object 1001h are sent as an 8 bit header, an have the following structure:
Byte 0
CANopen®
error code:
MSB 10
* Only MAC400, 402, 800, 1500 and 3000.
Byte 0-1:
Shows which Generic error the module is sending.
Byte 2:
Error register. In the error register it is indicated to which error class the error belongs.
Bit No.
Bit 0
1
2
3
4
5
6
7
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Byte 1 Byte 2
CANopen® CANopen®
error code: 8-bit error
LSB 01 register
Error Class
Generic error. Mandatory
Current (not supported)
Voltage (not supported)
Temperature (not supported)
Communication (Overrun) - (not supported)
Device profile specific (not supported)
Reserved
Manufactor specific
Byte 3 Byte 4
MAC motor MAC motor
ERR_STAT ERR_STAT
MSB 16-bit LSB 16-bit
error reg. error reg.
Byte 5 * Byte 6 *
MAC motor MAC motor
ERR_STAT ERR_STAT
Bit 23:16 Bit 31:24
Byte 7
Reserved
197