page 51
ResetNode
If a ResetNode is triggered by the CANopen master, a complete
restart of the R 360 slave would normally have to be carried out
(as for a watchdog reset for example). To achieve a higher
flexibility, this is controlled by the application program for
CANopen.
The flag COP_EVENT_RESETNODE = TRUE tells the user
whether a reset was triggered. If it is necessary, the user can
then call the function block SOFTRESET. After that the flag
must be reset.
In the R 360 master a long guard time or lifetime must be set to
compensate for the long reset phase of the slave.
Emergency objects
If an error occurs in the R 360 CANopen slave, it is transferred
to the master in an emergency object. The COB ID of the
EMCY object can be configured.
The emergency objects (consisting of 8 data bytes) are split up
in three parts according to CANopen.
1. Emergency code (error code, EMCY), byte 0 and byte 1
2. Error register (error reg.), byte 2
3. Data (additional information), byte 3 ... byte 7
The following errors are transferred:
EMCY code
Error reg.
Description
0x1000
Bit 0
Error (general), output ERROR set,
LED red
0x2100
Bit 1
Wire break
0x2300
Bit 1
Short circuit, overload, too high a
temperature
0x3200
Bit 2
Error undervoltage / overvoltage
0x4000
Bit 3
Error device temperature (> 85°C)
0x8100
Bit 4
Guarding error, no guard object
received
0x8200
Bit 4
SYNC error, no Sync object
received
EMCY code
Data byte Description
0x2100
Byte 3
Wire break bit QX0.0 ... QX0.7
Byte 4
Wire break bit QX0.8 ... QX0.15
Byte 5
Wire break bit QX0.16 ... QX0.23
0x2300
Byte 3
Short circuit bit QX0.0 ... QX0.7
Byte 4
Short circuit bit QX0.8 ... QX0.15
Byte 5
Short circuit bit QX0.16 ... QX0.23
0x8200
Byte 3
Bit 0, CAN error
Byte 3
Bit 1, SYNC error
Summary of Contents for ecomat 100 R 360 Series
Page 1: ...System manual ecomat 100 type R 360 ...
Page 14: ...page 14 ...
Page 26: ...page 26 ...
Page 86: ...page 86 ...
Page 100: ...page 100 ...
Page 126: ...page 126 ...
Page 146: ...page 146 ...
Page 162: ...page 162 ...
Page 163: ...page 163 Annex 2 Wiring Annex 2 1 Type CR0015 ...
Page 164: ...page 164 Annex 2 2 Type CR0016 ...
Page 165: ...page 165 Annex 2 3 Type CR0017 ...
Page 166: ...page 166 Annex 2 4 Type CR0501 ...