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計測機器 Baumer GCA5 C8のPDF マニュアルをオンラインで閲覧またはダウンロードできます。Baumer GCA5 C8 16 ページ。 Cable transducer gca5 with canopen

7 Emergency Service

7.1

General

If there is an error on the device, the device commits an emergency message and sets the corresponding bits in the error

Error codes are accessible by the error field (object 1003h-x). A history of maximal 8 error codes is stored in the error

field.

7.2

COB-ID

The COB-ID for the emergency message can be modified in object 1014h.

Default Value: 80h + node ID

Changes will be applied immediately.

The COB-ID is stored internally as a difference to the default COB-ID. Example:

Node ID: 4

Node ID: 9

7.3

Emergency message

The emergency message is transmitted if an error is indicated in the error register.

COB-ID

DLC Byte0

80h+node ID

Error code

7.4

Error register

Bit 7

Manufacturer error

Communication error

7.4.1

Communication errors are indicated if the internal CAN message buffers are overflowed or there are malformed CAN

frames on the bus. After a communication error the device changes to pre-operational mode.

Generic error

7.4.2

A generic error is indicated for all other errors.

An encoder specific alarm or warning will also cause a generic error.

After a generic error the device changes to pre-operational mode.

7.5

Error codes / EMCY messages

The following error codes are generated by the device:

Error Code

0x0000000000000000

0x0010010000000000

0x1081110000000000

0x1082110000000000

0x01FF810000000000

0x02FF810000000000

Baumer_GCA5_CANopen_MA_EN_V1_02.docx

28.09.2016

COB-ID Emergency: 84h (Default value)

COB-ID Emergency: 87h (Changed by user)

COB-ID Emergency: 89h (Adapted automatic)

Byte 1

Byte 2

Error register

(object 1001h)

Error register (object 1001h)

Bit 6

Bit 5

Bit 4

Communication error

Meaning

Error reset or no error

Generic error

CAN RX overflow

PDO not processed due to length error

Wire break

Error reading length

Byte 3

Byte 4

Bit 3

Bit 2

12/16

Byte 5

Byte 6

Byte 7

Bit 1

Bit 0

Generic error

Baumer Electric AG

Frauenfeld, Switzerland