![background image](http://html.mh-extra.com/html/ifm/cr2011/cr2011_device-manual_620633018.webp)
Output Module CR2011
18
Index S-Idx Designation
Type
Default
Description
1A00
1
Index in
the object
directory
u32, rw
0x2002 01
0x2002 02
0x2002 03
0x2002 04
Idx 2002 01 contains the actual current value
channel 1/2
Idx 2002 02 contains the actual current value
channel 3/4
Idx 2002 03 contains the actual current value
channel 5/6
Idx 2002 04 contains the actual current value
channel 7/8
Explanation of the abbreviations:
0x��� = hexadecimal value
0b��� = bit coded
0d��� = decimal value
str = string
rw = read-write
ro = read only
u8 = unsigned 8 bit
u16 = unsigned 16 bit
u32 = unsigned 32 bit
12 Fault correction
12.1 EMCY Object
The following error codes to DSP-401 and DSP-301 are supported:
EMCY Code Error Reg Additional
code
Description
0x5000
0x81
0x00
One channel or several channels not calibrated
0x6100
0x11
0x00
"Internal software":
- Overflow of a Rx 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
0x8100
0x11
0x00
"Monitoring" (guarding error)
- For the "guard time" x "life time factor" no guard object is
received
Reset after node is active again
0x8200
0x11
0x00
"Monitoring " (synch error)
- For "communication cycle" no synch object is received
Only in OPERATIONAL
Reset with the next synch OBJ or PREOP