JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
281
11.4.2
Emergency object
The EMCY (emergency) object is used to transfer an error message to the CANopen
master, or also to another node which can process the error message. The reaction on
the emergency object is not specified. An emergency object is transmitted only once per
“error event”.
The MIS motor (or SMC66/85) supports the EMC object (Emergency).
The following error codes can be generated:
Error code 1001h: Generic error - Motor error
Error code 1002h: Generic error - Position error
Error code 1003h: Generic error - Follow error
Error code 1004h: Generic error - Low
Transmit PDO25:
Use Transmit PDO25 in asynchronous mode to read the status of the error.
In the MIS motor (or SMC66/85), no error control is enabled when the motors (or
SMC66/85) are started up because if there is any fault in the system, it is impossible to
get in contact with the unit. After the unit has started up and there is communication be-
tween the master and the slave, turn on the required error control mechanism in the
communication objects, see
DS301 specified Communications objects
Name
Index
(hex)
Sub
Index
Data Type Read
only
Default Description
Guard time
100C
UNSIGNED16
Informs about the Guard time in
milliseconds. Is only mandatory if
the module does not support
heartbeat
Life time
factor
100D
UNSIGNED8
Is the factor that guard time is multi-
plied with to give the life time for
the node quarding protocol
Heartbeat
time
1017
UNSIGNED8
If the Heartbeat timer is not 0,
Heartbeat is used.
Identity
object
1018
IDENTITY
X
Contain general information about
the module
0
1 to 4
X
4h
Number of entries. Mandatory
1
UNSIGNED32
X
0x0117
Vendor ID, contains a unique value
allocated to each manufactor. 117h
is JVLs vendor ID. Mandatory.
2
UNSIGNED32
X
0x0200
Product Code, identifies a specific
device version.
MISxxx has the product code 300H.
3
UNSIGNED32
X
Revision number.
4
UNSIGNED32
X
Serial number
Summary of Contents for MIS17 Series
Page 56: ...56 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...
Page 76: ...76 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...
Page 266: ...266 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...
Page 318: ...318 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS17x 23x 34x 43x ...