4 Commissioning
4.12 CoE communication objects
DX-NET-ETHERCAT-2
01/14 MN040009EN
www.eaton.com
39
4.12.1 Diagnostics object 02
hex
This object defines a standardized method for handling host application
events and diagnostics.
Instance attributes
If a fault occurs in the DA1 variable frequency drive, the corresponding
diagnostic data will be forwarded through the module. An emergency
message will be used to generate a message and transmit it to the EtherCAT
bus.
The transfer appears as follows:
1. A new entry (diagnostics) is created in object 1003
hex
(pre-defined error
field) as follows:
2. The corresponding bit information is written to the error register
(object 1001
hex
assignment).
3. The EMCY object is sent to the network with the following information:
Bytes 0 and 1 will be replaced with the value in attribute 3.
EtherCAT CoE emergency frames are used to transfer error messages
between master and slave. More specifically, CoE emergency frames are
used directly to transfer the EMCY messages defined in CANopen.
1C13
hex
SyncManager Tx
PDO Assign
00
hex
Number of Assigned PDOs
U8
ro
Assignment between Sync channel and a PDO
01
hex
Assigned PDO
U16
ro
Assigned PDO
1C32
hex
SM ouput
parameter
00
hex
Number of entries
U8
ro
–
01
hex
Sync Mode
U16
ro
–
1C33
hex
SM input
Parameter
00
hex
Number of entries
U8
ro
–
01
hex
Sync Mode
U16
ro
–
Index
Object name
Sub index
Description
Type
Access
type
Meaning
Name
Access
Type
Value
Severity
Get
UINT8
–
Event Code
Get
UINT8
–
NW specific extension
Get
UINT8
CANopen specific EMCY code
High Byte (UNIT32)
Low Byte
Not used
Event Code
00
hex
Byte 0
Byte1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
00
hex
Event Code
Error Register
1001
hex
Vendor-specific information (not used)