Baumer EAM MT Series Посібник - Сторінка 15

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8 Emergency Service

8.1

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.
8.2

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: 3
8.3

Emergency message

The format of the emergency messages is according to CiA 301. Additionally, the 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
Error code
80h+node ID
8
8.4

Error register

Bit 7
Bit 6
Bit 5
-
-
-

Communication error

8.4.1
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 corresponding operation (described in object 1029h-1) is executed.

Temperature error

8.4.2
This error is indicated, when the internal temperature of the encoder is above a certain threshold level, at which the
position can't be guaranteed.

Generic error

8.4.3
A generic error is indicated for all other errors.
An encoder specific alarm or error will also cause a generic error.
After a generic error the corresponding operation (described in object 1029h-2) is executed.
Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx
06.08.2018
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
Temperature error
15/28
Byte 5
Byte 6
Byte 7
Warning 6505h
Not used
Bit 1
Bit 0
Generic error
Baumer Electric AG
Frauenfeld, Switzerland