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Faulhaber MC 5010 Communications Manual

Also see for MC 5004: Programming manualCommunications manualTechnical manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. About this document
  4. List of abbreviations
  5. Symbols and markers
  6. Overview
  7. Pre-conditions for communication
  8. Saving and restoring parameters
  9. Restoring settings
  10. CANopen protocol description
  11. Communication services
  12. Identifier distribution
  13. PDO (Process Data Object)
  14. PDO configuration
  15. Dealing with mapping errors
  16. SDO (Service Data Object)
  17. SDO error description
  18. Emergency object (error message)
  19. SYNC object
  20. NMT (Network Management)
  21. Boot up
  22. Node guarding
  23. Heartbeat
  24. Setting the monitoring functions
  25. Error handling
  26. Equipment faults
  27. Trace
  28. Reading the trace buffer
  29. Typical execution of the trace function
  30. Communications settings
  31. Setting the baud rate
  32. Setting the node number via the object dictionary
  33. Parameter description
  34. Manufacturer-specific objects
Faulhaber MC 5010 Communications Manual Manual pdf 24 page image
4th edition, 9-11-2018 7000.05050, 4th edition, 9-11-20187000.05050CANopen protocol description243.6 Emergency object (error message)The emergency object informs other bus participants of errors asynchronously withoutrequiring interrogation. The emergency object is always size 8 bytes:Assignment of user data: Error0(LB)/Error1(HB): 16-bit error code Error-Reg: Error register (contents of object 0x1001, see chap. 6.1, p. 43) FE0(LB)/FE1(HB): 16-bit FAULHABER error register (contents of object 0x2320, seeTab. 12) Bytes 5 to 7: unused (0)The error register identifies the error type. The individual error types are bit-coded and areassigned to the respective error codes. The object 0x1001 allows interrogation of the lastvalue of the error register.Tab. 9 lists all the errors that have been reported by emergency messages, providing therespective error is included in the emergency mask for the FAULHABER error register(Tab. 13).Tab. 9: Emergency error codes11-bit identi-fier8 bytes user data0x80 (128d) +node IDError0(LB) Error1(HB) Error-Reg FE0 (LB) FE1 (HB) 0 0 0Emergency message FAULHABER error register 0x2320 Error register 0x1001ErrorCodeDesignation Errormask0x2321Bit Designation Bit Designation0x0000 No error (is sent outwhen an error is nolonger present or hasbeen acknowledged)– – – – –– – – – 0 Generic error(is set if one of the error bits 1to 7 is set)0x3210 Overvoltage 0x0004 2 OverVoltageError 2 Voltage error0x3220 Undervoltage 0x0008 3 UnderVoltageError 2 Voltage error0x43F0 Temperature warning 0x0010 4 TempWarning 1 Current errora)0x4310 Temperature Error 0x0020 5 TempError 3 Temperature error0x5410 Output stages 0x0080 7 IntHW error 7 Manufacturer-specific error0x5530 EEPROM fault 0x0400 10 Memory error – –0x6100 Software error 0x1000 12 Calculation error 7 Manufacturer-specific error
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