Omron C200HW-CORT21-V1, Operation Manual

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Error Register, Predefined Error Field
Section 6-3
90
EMCY trigger (byte 5)
The EMCY trigger indicates which error has caused the emergency message
to be transmitted. The reason can be that an new error has occurred (EEC
≠
0) or that an error has been resolved (EEC = 0).
Note When the last error has been resolved, the emergency message will contain
8 zero’s!
The following figure shows the bit definitions of the EMCY trigger.
6-3 Error Register, Predefined Error Field
The C200HW-CORT21-V1 has two object entries in the object dictionary that
indicate the actual and previous errors since the last time the Unit was reset.
Error Register – Object entry 1001h
The error register is a simple 8-bit variable that stores the actual errors. This
byte is also transmitted as part of the emergency message and a description
of this byte can be found in the section that describes the emergency
message (section 6-2)
Predefined Error Field – Object entry 1003h
The Predefined Error Field is an array of 32-bit variables. The figure below
shows the structure of this object entry.
Index Sub-index Object Default value
1003h -
Predefined Error Field
-
1003h 00h Number of errors
0
1003h 01h Error code
0
1003h 02h Error code
0
1003h 08h Error code
0
Error history The array is able to store 8 different errors to provide an error history. The
format of the 32-bit error code is shown below.
byte 3 byte 2 byte 1 byte 0
Error count EMCY trigger Emergency Error Code
7 6 5 4 3 2 1 0
EMCY trigger
Receive queue overflow
Transmit queue overflow
CAN in error passive mode
Recovered from Bus Off
PDO length error
Fatal PLC error
Non-volatile memory error