Baumer EAM ST Series Podręcznik - Strona 17

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9.2

Redundant encoder

Figure 6: Dataflow of Error, Alarm, Warning, Diagnostic and Emergency messages (each node)
Bus Active
CAN-Controller
Bus Warning
Bus Passive
Bus Off
RX Buffer Overflow
CAN Node Guarding or Heartbeat
Temperature Montioring
Multiturn Magnetic Field sequence
OR
Multiturn Magnetic Field strength
Non-Volatile Data Manager
Multiturn Communication Monitor
Battery Monitoring Error
OR
Multiturn Power On Reset
Speed Monitoring
Reset Reason Watchdog
Battery Monitoring Warning
Singleturn Magnetic Field strength
Singleturn/Multiturn Supervision
Emergency Message
9.3

Error behavior

The error behaviors are executed when the corresponding bit in object 1001 Error register is set and the device is in the
NMT-State Operational.
Example:
The error behavior 1029h-2 is set to "Change to Pre-Operational" (0). The device is in NMT state Operational
1.
Generic error bit is set.
→ The device changes to Pre-Operational
2.
The device is forced to NMT state Operational with NMT command Start
→ The device changes again to Pre-Operational if the generic error bit is not cleared.
Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx
06.08.2018
Reset
OR
R
D
S
OR
no
R
Only at
D
Startup
S
R
Only at
D
Startup
S
R
Only at
D
Startup
S
no
R
Only at
D
Startup
S
R
D
S
R
D
S
Only at
Runtime
R
D
S
Only at
Runtime
Only at
Runtime
OR
Only at
Runtime
R
D
S
R
D
S
Error Register 1001h
Bit 4: Communication Error
Bit 3: Temperature
Bit 0: Generic Error
OR
Alarms 6503h
OR
Bit 0: Generic Position Alarm
Bit 1: Commissioning diagnostic
Bit 12: Position Data not valid
Bit 15: Battery empty
Warnings 6505h
Bit 0: Frequency exceeded
Bit 2: CPU Watchdog
Bit 3: Operating time limit
Bit 4: Battery charge low
Bit 12: Mounting Error
Bit 13: Multiturn System
Bit 14: Singleturn System
Bit 15: Multiturn Supervision
17/28
Error Behaviour
16-Bit Encoder Diagnostics 2117h
1029h-1h
Bit 12: Communication Error
Bit 13: Temperature
Error Behaviour
1029h-3h
Error Behaviour
1029h-1h
Bit 10: Generic Position Alarm
Error Behaviour
1029h-2h
Bit 11: Commissioning diagnostic
Bit 14: Position Data not valid
Bit 15: Battery empty
Bit 0: Frequency exceeded
Bit 1: CPU Watchdog
Bit 2: Operating time limit
Bit 3: Battery charge low
Bit 4: Mounting Error
Bit 5: Multiturn System
Bit 6: Singleturn System
Bit 7: Multiturn Supervision
Baumer Electric AG
Frauenfeld, Switzerland