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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 25 page image
4th edition, 9-11-2018 7000.05050, 4th edition, 9-11-20187000.05050CANopen protocol description25Example:An emergency message with the user data assignment in Tab. 10 is sent in the followingevent: In the Error Mask 0x2321, bit 1 (following error) is set under subindex 1 (emergencymask) (see Tab. 14). The control deviation value set in object 0x6065.00 for the position regulator corridorhas been exceeded for an extended period as defined by the value set for the errordelay time in object 0x6066.00 (see the documentation of the drive functions).Tab. 10: Example of user data assignment to an emergency message0x7200 Measurement circuit:Current measurement0x0200 9 CurrentMeasError 7 Manufacturer-specific error0x7300 Sensor fault (encoder) 0x0040 6 EncoderError 7 Manufacturer-specific error0x7400 Computation circuit:Module fault0x0100 8 ModuleError 7 Manufacturer-specific error0x81100x81300x81400x8310CAN overrunCAN guarding failedCAN recovered from busstopRS232 overrun0x0800 11 ComError 4 Communications error0x84F0 Deviation error (veloc-ity controller)0x0001 0 SpeedDeviationError 5 Drive-specific error0x84FF Max Speed Error 0x2000 13 DynamicError 7 Manufacturer-specific error0x8611 Following error (posi-tion controller)0x0002 1 FollowingError 5 Drive-specific errora) The current regulator keeps the motor current below the specified limit at all times. The overcurrent error bitis set if the warning temperature is exceeded. The permissible motor current is then reduced from the peakcurrent value to the continuous current value.8 bytes user data0x11 0x86 0x20 0x02 0x00 0x00 0x00 0x00Emergency message FAULHABER error register 0x2320 Error register 0x1001ErrorCodeDesignation Errormask0x2321Bit Designation Bit Designation
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