Faulhaber MC 5004, Communications Manual, Page: 51 / 53

4th edition, 9-11-2018 7000.05050, 4th edition, 9-11-2018 7000.05050
Parameter description
51
6.2 Manufacturer-specific objects
FAULHABER error register (0x2320)
The FAULHABER error register contains the most recent errors in bit-coded form. The errors
can be masked by selection of the desired types of error via the Error Mask (0x2321) object.
Error Mask (0x2321)
The states of the drive state machine are described in the documentation for the drive func-
tions.
Trace Configuration
Index Subindex Name Type Attr. Default value Meaning
0x2320 0x00 Fault Register U16 ro – FAULHABER error register
Index Subindex Name Type Attr. Default value Meaning
0x2321 0x00 Number of Entries U8 ro 6 Number of object entries
0x01 Emergency Mask U16 rw 0x00FF Errors for which an error message is sent
0x02 Fault Mask U16 rw 0x0000 Errors for which the state machine of the
drive switches into
Fault Reaction Active
state
0x03 Error Out Mask U16 rw 0x00FF Errors for which the error output pin is
set
0x04 Disable Voltage
Mask U16 ro 0x0000 Errors which switch off the drive (not
configurable)
0x05 Disable Voltage
User Mask U16 rw 0x0000 Errors which switch off the drive (config-
urable)
0x06 Quick Stop Mask U16 rw 0x0000 Errors for which the state machine of the
drive switches into
Quick Stop Active
state
Index Subindex Name Type Attr. Default value Meaning
0x2370 0x00 Number of
Entries U8 ro 10 Number of object entries
0x01 Trigger Source U32 wo 0 Trigger source
0x02 Trigger Thresh-
old S32 rw 0 Trigger threshold
0x03 Trigger Delay
Offset S16 rw 0 Trigger delay
0x04 Trigger Mode U16 rw 0 Trigger mode
0x05 Buffer Length U16 rw 100 Buffer length
0x06 Sample Time U8 rw 1 Recording sampling rate
1: in every sampling step
0x07 Trace Source of
Channel 1 U32 wo 0 Trace source of channel 1
0x08 Trace Source of
Channel 2 U32 wo 0 Trace source of channel 2
0x09 Trace Source of
Channel 3 U32 wo 0 Trace source of channel 3
0x0A Trace Source of
Channel 4 U32 wo 0 Trace source of channel 4