Emergency
COB-ID EMCY
15
6.4 Emergency
6.4.1 COB-ID EMCY
This object defines the COB-ID of the emergency message.
Object Description
Index
0x1014
Standard
0x00
node ID
Length
4
Min
0x00000001
Object code
Variable
Elements
Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping
no
6.4.2 Emergency message
COMPAX can generate the following pop-up messages via the emergency object if
P196 Bit 0 = 0
:
#
an error has occurred.
#
the programmed set point has been reached.
#
the programmed comparator point has been reached.
The pop-up messages can be enabled individually via P193 (activated).
Pop-up message
Valency
automatic error message
1
automatic "position reached" message
2
automatic comparator switch points report
4
The required settings can be obtained by inputting the sum of the significants in P193
Setting the message via P193:
P193="1": autom. error message
P193="2": autom. "position reached" message
P193="4": autom. comparator switch points report
The emergency telegram is constructed as follows:
Byte
0
1
2
3
4
5
6
7
Contents
Emergency
Error Code
Error
Register
Manufacturer-specific message
Error
Profile error code:
0x01
Error No.
0x45
0x00
0x00
0x00
Set point reached
0x00
0xFF
0x00
0x00
0x50
0x00
0x00
0x00
Comparator point reached
0x00
0xFF
0x00
Comp.
No.
0x43
0x00
0x00
0x00
6.5 Boot-up object
This object shows the communication readiness of the device and is sent automatically following Power on.
The boot-up object consists of the COB-ID of the EMCY object and 0 data bytes (P196 bit 1 = 0).
Optionally, P196 can be used to set Bit 1 = 1, so that the boot-up object has the same format as the EMCY object;
but all data bytes have value 0 in this case.
In addition, it is possible with setting P196 bit 2 = 1 that COMPAX transmits the boot-up object as soon as it has received the
START message.
Profile error code: The importance accords with
the error code described on page 37
.
Error no. of the COMPAX error (see
COMPAX User Guide)
0x01: error
