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ENGLISH
OUTPUT MODULE
CR2011
PAGE
31
EMCY Object
The following error codes to DSP-401 and DSP-301 are supported:
Only the first error of an error group is indicated.
If there is for example an error „load resistor is too high“ on channel pair 1/2 and
then on channel pair 3/4, only the error which occured first is signalled.
CANopen does not allow to send two identical EMCY objects one after the other.
Additional
code
EMCY
code
Error
reg
Description
0x8100
0x11
"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
0x00
"Monitoring " (synch error)
- For "communication cycle" no synch object is received
Only in OPERATIONAL
Reset with the next synch OBJ or PREOP
0xFF00
0x81
bit coded
„Device Specific“
- The output current could not be achieved because the load
resistor is too high/small
0000 000
1
channel pair 1, 2 load resistor is too high
0000 00
1
0
channel pair 3, 4 "
0000 0
1
00
channel pair 5, 6 "
0000
1
000
channel pair 7, 8 "
000
1
0000
channel pair 1, 2 load resistor is too small
00
1
0 0000
channel pair 3, 4 "
0
1
00 0000
channel pair 5, 6 "
1
000 0000
channel pair 7, 8 "
0x6100
0x11
"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
0x00
0x5000
0x81
One channel or several channels not calibrated
0x00
0x6101
0x11
"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
0x00