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CompactModule Metall CR2031
24
11 Fault correction
11.1 EMCY Object
The following error codes to DSP-401 and DSP-301 are supported:
EMC Code Error Reg Additional
Code
Description
0x3300
0x05
0x00
"Output Voltage"
Supply voltage VBBO of the outputs is missing
0x6100
0x11
0x00
"Internal Software“ Overflow of a Tx queue,
e�g� frequency of the RxPDOs is too high� Only external reset
via an entry in 1003 00
0x6101
0x11
0x00
"Internal Software"
Overflow of a Tx queue, e�g� device does not communicate with
the bus� Only external reset via an entry in 1003 00
0x6200
0x81
bit coded
"User Software"
I/O configuration is not permissible�
EMCY object contains faulty channel pair, each bit represents a
channel pair�
0000 0010 channel pair 1, 2
0000 1000 channel pair 3, 4
0010 0000 channel pair 5, 6
1000 0000 channel pair 7, 8
0x8000
0x11
0x00
"Monitoring" (Synch Error)
For "communication cycle" no synch object is received (only in
OPERATIONAL)�
Reset with the next synch OBJ or PREOP�
0x8130
0x11
0x00
"Monitoring" (Guarding Error/Heartbeat Error)
For "guard time" x "life time factor" no guard object is received
or heartbeat object outside the expected time�
Reset after node is active again�
0xFF00
0x81
bit-codiert
"Device Specific"
The output current could not be achieved because the load
resistor is too high/small�
0000 0001 channel 1
0000 0010 channel 2
0000 0100 channel 3
0000 1000 channel 4
0001 0000 channel 5
0010 0000 channel 6
0100 0000 channel 7
1000 0000 channel 8
Only the first error of an error group is indicated�
If there is for example an error "load resistor is too high/small" on channel 1
and then on channel 2, only the error which occured first is signalled�
CANopen does not allow to send two identical EMCY objects one after the
other�