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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 35 page image
4th edition, 9-11-2018 7000.05050, 4th edition, 9-11-20187000.05050CANopen protocol description35Tab. 14: Error mask (0x2321)Examples: When the fault mask (subindex 2) of object 0x2321 is set to 0x0001 the drive is switchedoff due to overcurrent are set to an error state. When the subindex 3 of object 0x2321 is set to 0, the error output (fault pin) indicatesno error. When the subindex 3 of object 0x2321 is set to 0xFFFF, the error output (faultpin) indicates all errors.Index Subindex Name Type Attr. Default value Meaning0x2321 0x00 Number of Entries U8 ro 6 Number of object entries0x01 Emergency Mask U16 rw 0x00FF Errors for which an error message is sent0x02 Fault Mask U16 rw 0x0000 Errors for which the state machine of thedrive switches into Fault Reaction Activestate0x03 Error Out Mask U16 rw 0x00FF Errors for which the error output pin isset0x04 Disable VoltageMaskU16 ro 0x0000 Errors which switch off the drive (notconfigurable)0x05 Disable VoltageUser MaskU16 rw 0x0000 Errors which switch off the drive (config-urable)0x06 Quick Stop Mask U16 rw 0x0000 Errors for which the state machine of thedrive switches into Quick Stop Activestate
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