Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 38)

Chapter 6: Emergency (EMCY)

The Emergency object COB-ID is 0x81 to 0xFF. EMCY objects are fully defined in CiA

DS 301. The structure of the manufacturer-specific emergency message is as follows:

Error code

2 Error register

Elmo error code (refer to SimplIQ Software Manual)

Error code data field 1

Error code data field 2

Note: Unused bytes must be set to zero.

6.1 Emergency Configuration

The events listed in this chapter can be configured to indicate which will emit an

emergency message, using object 0x2F21.

6.2 Emergency Codes Related to Failure

SimplIQ digital servo drives issue an emergency code in response to an abnormal

condition. All emergencies can be divided into two groups: those that can be masked and

those that cannot. For a description of emergency codes that can be masked, refer to

object 0x2F21. Eme

rgency codes that cannot be masked are related to PVT/PT motion

and are described in section

6.4.

6.3 Emergency Codes for Motor Faults

For a description of emergencies related to motor faults, refer to object 0x2F21 and to the

MF command section in the SimplIQ Command Reference Manual.

6.4 Emergency Codes Related to PVT/PT Motion

During PT/PVT motion, the servo drive may issue emergency objects in order to indicate

an error or to signal that it is in immediate need of additional data to prevent data queue

underflow.

CANopen DS 301 Implementation Guide Emergency (EMCY)

MAN-CAN301IG (Ver. 2.1)

6-1

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 38