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76 Fieldbus interface
7 Diagnostics and troubleshooting IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
7.2 Error diagnostics via fieldbus
7.2.1 Message objects
A number of objects provide information on the operating and error
state:
•Object Statusword (6041
h
)
Operating states, see product manual
•Object EMCY (80
h
+ Node-ID)
Error message from a device with fault state and error code, see
chapter 3.4.2.5 "Emergency service"
•Object Error register (1001
h
)
Fault state
•Object Error code (603F
h
)
Error code of the most recent error
• Devices use the special SDO error message ABORT to signal
errors in exchanging messages by SDO.
7.2.2 Messages on the device status
Synchronous and asynchronous errors are distinguished in the evalua-
tion and handling of errors.
Synchronous errors The device signals a synchronous error directly as a response to a mes-
sage that cannot be evaluated. Possible causes comprise transmission
errors or invalid data. For a list of synchronous errors see chapter 7.3.1
"Error register".
Asynchronous errors Asynchronous errors are signaled by the monitoring units in the device
as soon as a device fault occurs. An asynchronous error is signal via bit
3, "Fault", of the object statusword (6041
h
). In the case of errors
that cause a an interruption of the movement, the device transmits an
EMCY message.
Asynchronous errors are also reported via bits 5..7 of the object
driveStat (2041
h
).