ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 38)

Chapter 6: Emergency (EMCY)
The Emergency object COB-ID is 0x81 to 0xFF. EMCY objects are fully defined in CiA
DS 301. The structure of the manufacturer-specific emergency message is as follows:
0
1 Error code
2 Error register
3 Elmo error code (refer to SimplIQ Software Manual)
4
5 Error code data field 1
6
7 Error code data field 2
Note: Unused bytes must be set to zero.
6.1 Emergency Configuration
The events listed in this chapter can be configured to indicate which will emit an
emergency message, using
object 0x2F21 .
6.2 Emergency Codes Related to Failure
SimplIQ digital servo drives issue an emergency code in response to an abnormal
condition. All emergencies can be divided into two groups: those that can be masked and
those that cannot. For a description of emergency codes that can be masked, refer to
object 0x2F21 . Emergency codes that cannot be masked are related to PVT/PT motion
and are described in section 6.4.
6.3 Emergency Codes for Motor Faults
For a description of emergencies related to motor faults, refer to object 0x2F21 and to the
MF command section in the SimplIQ Command Reference Manual.
6.4 Emergency Codes Related to PVT/PT Motion
During PT/PVT motion, the servo drive may issue emergency objects in order to indicate
an error or to signal that it is in immediate need of additional data to prevent data queue
underflow.
CANopen DS 301 Implementation Guide Emergency (EMCY)
MAN-CAN301IG (Ver. 2.1)
6-1