Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 27)

4 CANopen Drive Profile

4.1 Emergency Messages

Emergency messages are triggered by internal equipment errors. They have a high ID-priority, to

ensure quick access to the bus. An Emergency message contains an error field with pre-defined

error/fault numbers (2 bytes), an error register (1byte), the error category (1 byte) and additional

information (Þ chapter 3). The higher-value byte of the error number describes the error category,

and the lower-value byte provides the error number in this category.

Error numbers from xx00

to xx7F

are defined in the communication or drive profile. Error numbers

from xx80

to xxFF

have manufacturer-specific definitions. The error category can be used to clas-

sify the significance of any errors that occur. The following error categories are defined:

1: Errors that can only be cleared by a reset (COLDSTART command, or Bit 7 in the

control word Þ 4.4.2.1). These errors are also indicated by blinking of the LED display

in the front panel. (Fxx, xx = error number)

2: Errors that can be cleared by Bit 11 in the control word (Þ 4.4.2.1).

3: Error messages that may appear when a PDO is processed.

4: Faults, that cannot be cleared by the user.

5: Operating errors/warnings.

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 27