Lenze E94AYCCA - Manual (Page 84)

E94AYCCA communication manual (CANopen®)
Monitoring
Emergency telegram
84
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EDS94AYCCA EN 5.0 - 06/2012
10.3 Emergency telegram
If the error status changes due to the occurrence or elimination of an internal device error,
an emergency telegram with the following structure is sent once to the NMT master:
Example

Tip!
A detailed description can be gathered from the CANopen specification DS301,
V4.02.
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Emergency error code Error register Manufacturer-specific error message
Low byte High byte I-1001 0x00
(reserved)
Low word High word
Low byte High byte Low byte High byte
See table below • With emergency error code "0x1000: Lenze error number"
(value displayed in C00168)
• With all other emergency error codes, the value "0" is entered
here.
Emergency error code Error register Cause
0x0000 0xxx One of several errors eliminated
0x00 Single error eliminated (no more errors)
0x1000 0x01 Generic error
• In the standard device, an error has occurred with the error
response "Fault", "Trouble", "Quick stop by trouble", "Warning",
"Warning locked" or "System fault".
• Error message is the Lenze error number (C00168).
• For error cause see error description (C00166).
0x3100 0x01 Supply voltage of standard device faulty or failed
0x8100 0x11 Communication error (warning)
0x8130 0x11 Life guarding error or heartbeat error
0x8150 0x11 Collision of identifiers (COB-IDs): An identifier parameterised for
reception is also used for transmission.
0x8210 0x11 PDO length is shorter than the expected PDO length
0x8220 0x11 PDO length is longer than the expected PDO length
0x8700 0x11 Sync telegram monitoring
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Emergency error code Error register Manufacturer-specific error message
0x00 0x10 0x01 0x00
(reserved)
0x1B 0x00 0x7B 0x00
Generic error Lenze error message "0x007B001B: Encoder wire
breakage".
Corresponding "error-free" message: value
"0x00000000"