Lenze EMF2192IB - Manual (Page 54)

Diagnostics
Emergency requests / emergency messages
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54 EDSMF2192IB EN 3.1
10.2 Emergency requests / emergency messages
Emergency messages are sent once to the EtherCAT master if the error status of the
controller/communication module changes, i.e. ...
ƒ if an error of the controller/communication module occurs;
ƒ if an error of the controller/communication module is omitted.
An "Emergency Request" on the fieldbus consists of the "Mailbox Header", "CANopen
Header" and the Emergency message:
Mailbox Header CANopen
Header
Emergency Message
6 bytes 2 bytes 8 bytes
Structure of the emergency message
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Emergency
error code
Error
register
(I−1001)
Reserved error code
(Device)
Low Byte High Byte Low Byte High Byte Low Word High Word
Low Byte High Byte Low Byte High Byte
Example: The AIF connection to the standard device has been lost (error code "0x31").
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Emergency
error code
Error
register
(I−1001)
Reserved Error code
(Device)
0x00 0x10 0x01 0x00 0x00 0x00 0x00 0x31
ƒ Bytes 1 and 2 indicate that an error has occurred.
ƒ Byte 3 indicates the contents of the error register (I−1001).
ƒ Bytes 5 ... 8 indicate the corresponding error code.
Possible error codes (overview)
No.
(Byte 8) Designation Meaning
0x10 EMCY_BAD_SYNC_INPUT The sync source specified in code C1121 of the standard
device is incorrect.
0x11 EMCY_BAD_SYNC_CYCLETIME The sync cycle time specified by the master cannot be used.
0x12 EMCY_BAD_SYNC_CYCLE_GG The specified sync cycle time from code C1122 of the
standard device cannot be used.
0x13 EMCY_CANT_SYNC Synchronisation of the standard device is not possible.
0x14 EMCY_SYNC_LOST EtherCAT has lost the synchronisation.
0x31 EMCY_AIF_LOST The AIF connection to the standard device has been lost.
0x32 EMCY_AIF_UNKNOWN_GG The standard device is unknown.