CompactModul Metall CR2033
18
EMCY Code
Error Reg
Additional Code
Description
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 coded
"Device Specific"
0000 0001 channel 2 short circuit 1)
0000 0010 channel 4 "
0000 0100 channel 6 "
0000 1000 channel 8 "
0001 0000 channel 2 wire break 2)
0010 0000 channel 4 "
0100 0000 channel 6 "
1000 0000 channel 8 "
1) short circuit only with outputs in ON mode
2) wire break only with outputs in OFF mode
Only the first error of an error group is indicated�
If there is for example an error "short circuit" on channel 2 and then on channel 4, only the error which occured
first is signalled�
CANopen does not allow to send two identical EMCY objects one after the other�
9 Object directory
9.1 Manufacturer Specific Profile Area; index 2000 to 5FFF
Index
S-Idx Name
Typ
Default Beschreibung
2000
0
I/O Configuration u8, ro
0x0C
Number of the entries
(= number of the output channels)
1
Configuration
binary input
channel 1
u8, rw
0x01
0 = OFF
1 = binary input
2
Configuration
output channel 2
u8, rw
0x02
0 = OFF
2 = binary output
4 = analogue output (PWM)
3
Configuration
binary input
channel 3
u8, rw
0x01
0 = OFF
1 = binary input
4
Configuration
output channel 4
u8, rw
0x02
0 = OFF
2 = binary output
4 = analogue output (PWM)
