Omron Sysmac E3X-ECT, Руководство по эксплуатации

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5 EtherCAT Communications
5 - 12 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual
5-7 Emergency Messages
E3X-ECT EtherCAT Sensor Communication Units are able to notify emergency messages to the
EtherCAT Master Unit by using the SDO communications if they detect errors.
It is possible to set whether or not to notify emergency messages via the SDO communications.
Target indexes are sub-index 05 hex: (Flags) in 10F3 hex (Diagnostic History).
The setting values are shown in the table below.
When the power to it is turned on, a Slave Unit always starts up in the "Not notify" setting. If you want to
use a Slave Unit in the "Notify" setting, set it to "Notify" each time you turn on the power.
Note that an emergency message cannot be sent during an EtherCAT communications errors are
occurring.
Precautions for Correct Use
Emergency message notification is enabled at startup for unit version 1.0.
An emergency message is composed of 8-byte data as shown below.
For contents of emergency message, refer to "11-1-5 Emergency Error Code" in page 11 - 15.
For contents of Sysmac error status codes, refer to "11-1-4 Sysmac Error Status Codes" in page 11 - 9.
A E3X-ECT EtherCAT Slave Unit can save up to eight emergency messages in non-volatile memory
inside the Slave Unit. The saved messages can be read with SDO communications.
Indexes to be read are sub-indexes 06 hex to 0D hex (Diagnosis messages 1 to 8) among 10F3 hex
(Diagnosis History).
Diagnosis history is stored from Diagnosis message 1. If 8 errors are stored in order up to Diagnosis
message 8, the 9th error onward are saved from Diagnosis message 1 again.
History is saved even if emergency messages cannot be sent to the EtherCAT Master Unit due to
EtherCAT communications errors or emergency messages are set to "Not notify."
Errors that occur for non-volatile memory are not saved in the diagnosis history.
5-7-1 Emergency Message Notification
Set value Emergency message notification
0000 hex Not notify.
0001 hex Notify.
Byte 0 1 2 3 4 5 6 7
Contents
Emergency
error code Error register
(Object 1001 hex)
Reserved. Sysmac error status code
5-7-2 Diagnosis History