Wachendorff WDGA 58V handleiding
Handleiding
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Technical Manual
WDGA with CANopen Interface
7 - Object description
© Wachendorff Automation GmbH & Co. KG
32
7.3 Emergency messages (EMCY)
An emergency is sent when a failure occurs either on the bus or within the device.
Within an EMCY message the error is coded.
Object 1014h defines the COB-ID of the emergency message. The default value is
80h + device node-ID (1 - 127). BasicCAN Frames or ExtendedCAN Frames can be
used (Bit 29 = 1).
General structure of an emergency message:
80h+ID
8
Error Code
L
Error Code
H
Error Reg.
Info1
Info2
CAN-ID
DLC
Byte0
Byte1
Byte2
Byte3
Byte4
Table 7.6: Basic structure of an EMCY
Error Code (H,L)
Description
0000h
no error
4200h
Temperature out of tolerance
5000h
Hardware failure (EEPROM)
8110h
CAN overrun
8120h
CAN Error passive state
8130h
Heartbeat / Life guarding error
8140h
Bus Off recovery
Table 7.7: Emergency error code list
Error register:
Interpretation of object 1001h (bit interpretation, default = 00000000):
Bit:
7
6
5
4
3
2
1
0
Info:
co
co
co
Communication
Temperature
co
co
Generic error
Table 7.8: Error register
List info field:
The info field depends on the error codes:
Error Code
Field
Bit
Hex-
value
Error description
4200h
Info field 1 (Byte3)
6
40h
Temp. Read Error
5
20h
low limit exceeded
4
10h
high limit exceeded
Error Code
Field
Bit
Hex-
value
Error description
5000h
Info field 2 (Byte4)
0
01h
EEPROM error in init-phase
3
08h
EEPROM Write-Timeout
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 58V |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
