Baumer MAGRES BMMS M75 Manual - Página 12
Procurar online ou descarregar pdf Manual para Conversor de multimédia Baumer MAGRES BMMS M75. Baumer MAGRES BMMS M75 20 páginas. Absolute encoder with cable-pull absolute encoder redundant with cable-pull canopen
Imprimir página
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
register (Object 1001h).
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: 1
Node ID: 9
7.3
Emergency message
The format of the emergency messages is according to CiA 301. Additionally our encoder sends the warning and alarm
fields (object 6503h, 6505h).
The emergency message is transmitted if an error is indicated in the error register.
COB-ID
DLC Byte0
80h+node ID
8
Error code
7.4
Error register
Bit 7
Bit 6
Bit 5
-
-
-
7.4.1
Communication error
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 corresponding operation (described in object 1029h-1) is executed.
7.4.2
Generic error
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 corresponding operation (described in object 1029h-2) is executed.
7.5
Error codes
The following error codes are generated by the device:
Error Code (hex)
Meaning
0000
Error reset or no error
5000
Hardware fault (position error)
6100
Software fault (watchdog)
8100
Communication error (bus warning)
8110
CAN RX overflow
8120
CAN in error passive mode
Manual_BMMS_CANopen_BECH_EN_rev05.docx
18.06.2013
COB-ID Emergency: 81h (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 4
Communication error
Byte 3
Byte 4
Manufacturer specific
Alarms 6503h
Bit 3
Bit 2
Bit 1
12/20
Byte 5
Byte 6
Byte 7
Warning 6505h
Not used
Bit 0
Generic error
Baumer Electric AG
Frauenfeld, Switzerland