Baumer ATD - Manual (Page 20)

EtherCAT 20/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
3.2 Error handling
All errors and warnings are forwarded by the encoder via emergency messages. Those messages are dis-
patched by the encoder automatically. System warnings are such, but not exclusive like listed under 2.4.1.17.
Also ECAT specific communication (e.g. SM init mismatch, etc) errors are forwarded via the mailbox emer-
gency message.
Encoder Hardware
Error Handler
Hardware error
detected?
N
Clear warning and alarm
(0x6503 and 0x6505)
Alarm?
Set corresponding
warning bits (0x6505)
N
Set corresponding
alarm bits (0x6503)
Send ECAT MBOX
message (No Error)
(warning)
State = OP
Send EMCY(Error Code)
Y
end
Picture 6 Encoder specific error handling
3.2.1 Encoder specific errors
This encoder supports hardware and software error detection.
Alarm
Position
Warning
Battery
Temperature
Internal ADC
Light source
Error (Generic)
Picture 7 Encoder specific error classification
3.2.1.1 Device Watch Dog
Device Watchdog error is a fatal error. This error may happen in case of a non-predictable problem in soft-
ware, hardware, operating environment, etc that leads to system crash. In this case the encoders own WD
generates a system reset. This event will be forwarded to the master system via ERROR Status LED. The AL
Status register is than set to ALSTATUSCODE_WAITFORCOLDRESET, please refer to Chapter 3.2.2.3.
3.2.1.2 Position Error
This bit is set whenever a mayor internal communication error happens in such case the position value is not
valid any more.