Filter
Top Products
72 Fieldbus interface
6 Operation IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
6.5 Error signaling via PDO4
6.5.1 Synchronous errors
If a request for an operating mode sent via R_PDO4 cannot be proc-
essed by the product, the product rejects processing and sets
modeStat, bit 6 ("ModeError") in the T_PDO4. This does not interrupt
the current process. To determine the cause of the error, the master can
read the error number from the object CAN.modeError, 30:11 with an
SDO access.
Example The product rotates in Profile Velocity operating mode.
Table 6.8 Synchronous error, invalid operating mode request
NOTE: When the request for position setting is rejected, the product
continues to run in Profile Velocity operating mode; there is no change.
However, the product sends an EMCY message with the corresponding
error number to the master .
6.5.2 Asynchronous errors
Asynchronous errors are triggered by internal monitoring (e.g. temper-
ature) or by external monitoring (e.g. limit switch). If an asynchronous er-
ror occurs, the product responds by braking or by disabling the power
stage.
Asynchronous errors are indicated in the following way:
• Change to operating state 7 "Quick Stop" or to operating state 9
"Fault".
The change is represented in T_PDO4, driveStat, bits 0 ... 3.
• Setting of driveStat, bit 5 (fault detected by internal monitoring)
or driveStat, bit 6 (fault detected by internal monitoring)
• In the event of an error message by internal monitoring:
Setting of the bit corresponding to the fault in object
Status.FltSig_SR, 28:18.
In the event of an error message by external monitoring:Setting of
the bit corresponding to the fault in object Status.Sign_SR, 28:15
• In addition, an error number is assigned to each error. In the event
of an asynchronous error, the corresponding error number can be
read from the object Status.StopFault (32:7).
Master <---> Slave
Profile Velocity operating
modex_end = 0
T_PDO4 <--- driveStat
0006
h
modeStat
04
h
p_act
XXXXXXXX
h
Request: Dimension setting to 0 R_PDO4 ---> drivectrl
02
h
modeCtrl
82
h
Ref16
XXXX
h
Ref32
00000000
h
Request rejected "ModeError" =
1
T_PDO4 <--- driveStat
0006
h
modeStat
C4
h
p_act
XXXXXXXXh