AXIOMATIC AXDIO128CO, User Manual

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UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 23-53
3.2.2. Object 1001h: Error Register
This object is an error register for the device. Any time there is an error detected by the DIO128
Controller, the Generic Error Bit (bit 0) is set. Only if there is no errors in the module will this bit will
be cleared. No other bits in this register are used by the DIO128 Controller.
Object Description
Index 1001h
Name Error
Register
Object Type VAR
Data Type UNSIGNED8
Entry Description
Access RO
PDO Mapping
No
Value Range 00h or 01h
Default Value 0
3.2.3.
Object 1003h: Pre-Defined Error Field
This object provides an error history by listing the errors in the order that they have occurred. An
error is added to the top of the list when it occurs, and is immediately removed when the error
condition has been cleared. The latest error is always at sub-index 1, with sub-index 0 containing
the number of errors currently in the list. When the device is in an error-free state, the value of sub-
index 0 is zero.
The error list may be cleared by writing a zero to sub-index 0, which will clear all errors from the
list, regardless of whether or not they are still present. Clearing the list does NOT mean that the
module will return to the error-free behaviour state if at least one error is still active.
The DIO128 Controller has a limitation of a maximum of 3 errors in the list. If the device registers
more errors, the list will be truncated, and the oldest entries will be lost.
The error codes stored in the list are 32-bit unsigned numbers, consisting of two 16-bit fields. The
lower 16-bit field is the EMCY error code, and the higher 16-bit field is a manufacturer-specific
code. The manufacturer-specific code is divided into two 8-bit fields, with the higher byte indicating
the error description, and the lower byte indicating the channel on which the error occurred.
MSB LSB
Error Description Channel-ID EMCY Error Code
Only if a heartbeat consumer fails to be received within the expected timeframe will the Channel-ID
(nn) reflect the Node-ID of the consumer channel that was not producing. Otherwise, this field is
set to 00h. In all cases, the Error Descriptions bits will be set to 00h. Table 4 outlines all the
possible error codes generated by the DIO128 and their associated meaning.
Code Error Description Meaning ID Meaning EMCY Code Meaning
00000000h EMCY Error Reset (fault no longer active)
00008110h 00h Unspecified 00h Unspecified 8110h CAN overrun (RPDO1 Lost)
00nn8130h 00h Unspecified nn Node-ID 8130h Heartbeat (Timeout) Error
00008140h 00h Unspecified 00h Unspecified 8140h Recovered from Busoff
Table 4 – Pre-Defined Error Field Codes