X20 system modules • Digital signal processing modules • X20DS1928
1410
X20 system User's Manual 3.10
4.16.5.10.7 Error management
The module can also provide diagnostics about error states. There are two ways in which this is done:
•
Module-based diagnostics
•
EnDat-based diagnostics
4.16.5.10.7.1 Module-based diagnostics
The module diagnoses seven different errors or warnings. Depending on the settings, the error bits can be called
either individually or packed together.
Error registers
Names (pChannelName):
ErrorEnableID_1710
ErrorInfo / ErrorInfo_CANIO
AckErrorInfo / AckErrorInfo_CANIO
Names of the individual bits (pChannelName):
EncoderSupplyError
VssCheckError
PositionError
EnDatComError
EnDatPosError
EnDatParSetError
EnDatRefWarning
AckEncoderSupplyError
AckVssCheckError
AckPositionError
AckEnDatComError
AckEnDatPosError
AckEnDatParSetError
AckEnDatRefWarning
Three independent registers are provided in accordance with B&R's approach to error management.
Data type
Values
3x USINT
See bit structure
The implemented diagnostics algorithms can be activated or deactivated in the Enable byte.
Bit structure of "ErrorEnableID_1710":
Bit
Name
Information
0
Error detection disabled
0
Encoder supply
1
Error detection enabled (Bus Controller default setting)
1
Reserved
-
0
Error detection disabled
2
Vss Sin/Cos
1
Error detection enabled (Bus Controller default setting)
0
Error detection disabled
3
Position Error
1
Error detection enabled (Bus Controller default setting)
0
Error detection disabled
4
EnDat - Communication
1
Error detection enabled (Bus Controller default setting)
0
Error detection disabled
5
EnDat - Position
1
Error detection enabled (Bus Controller default setting)
0
Error detection disabled
6
EnDat - Parameter
1
Error detection enabled (Bus Controller default setting)
0
Warning disabled
7
EnDat - Reference warning
1
Warning enabled (Bus Controller default setting)
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