Troubleshooting and diagnosis options
TR-Electronic GmbH 2016, All Rights Reserved
Printed in the Federal Republic of Germany
Page 146 of 153
TR-EMO-BA-GB-0022 v03
09/29/2020
12.2 EMCY error information
12.2.1 EncoTRive RE - Emergencies
The emergencies are stored in the "Emergency List" 0x1003. New emergencies are
inserted at the begin. Thus they are sorted by their age: The 1st entry is the youngest
or most recent one.
Empty entries contain the value 0. The first emergency is also shown in the "Error
Code" 0x603F, which can be mapped to TPDOs.
The emergencies are cleared mostly by writing 0 to the count of emergencies
0x1003:00. However some emergencies are caused by invalid parameters and can
only be cleared by setting correct values.
While emergencies are pending, the "Error Register" 0x1001 shows the stored
categories or kinds of all emergencies, and in the "DS402 Status word" 0x6041 the bit
2
7
is set.
The current value of the error register is appended to an emergency message as the
last byte.
If the condition for an emergency occurs more than once, and it is already stored in
the emergency list 0x1003, it is not sent again! Furthermore, it is not moved to the
1st place.
If it is required to react soon on such a condition, this list should be cleared fast
enough after receiving an emergency.
If the emergency list is full, no more emergencies are added and sent!
12.2.2 Error register, object 0x1001
The error register specifies the cause of the error in bit code. Several errors can also
be displayed simultaneously by a set bit.
The more detailed error cause can be found in bits 0 - 15 in object 0x1003, see
following pages. At the time of occurrence, an error is indicated by an EMCY
message.
Bit
Meaning
0
General error
1
Current
2
Voltage
3
Temperature
4
Communication error (overflow, status error)
5
Device profile-specific
6
Reserved, always 0
7
Manufacturer-specific
Table 36: EMCY Error register, object 0x1001
