Festo EMCA-EC-67 CO Series, Description

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3 EtherCAT with FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 67
3.8.5 Emergency Communication
The EMCA monitors the function of internal assemblies (e.g. output stage). Whenever an error occurs,
the configured error reaction is initiated and the corresponding Emergency message is transmitted to
the controller.
The EMCA also transmits a Emergency message if an error was acknowledged.
Objects for the EMCY operation
The following object is available for Emergency operation:
Index Name Page
1001
h
Error register 68
Tab. 3.46 Objects for the Emergency operation
Error free
1
Start
Error occured
0
4
2
3
Fig. 3.11 Diagram: Error finite state machine
The following status transitions are possible:
no. Cause Description
0 Initialisation completed There is no error.
1 Error occurs No error is present and a new error occurs.
A Emergency message is transmitted with the error code of the
new error.
2 Error acknowledgment
not successful
Not all causes of error are remedied and an error was acknow­
ledged
è
Page 126.
3 New error occurs An error is present and a new error occurs.
A Emergency message is transmitted with the error code of the
new error.
4 Error acknowledgment
successful
All causes of error have been eliminated and an error acknowledg­
ment has been carried out
è
Page 126. The Emergency message
was transmitted with error code 0000
h
(No error/Error reset).
Tab. 3.47 Error status transitions