0x2f22 – ElmoMC CANopen DS 301 Implementation Guide User Manual

Page 105

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The following CAN emergencies are supported in PVT/PT modes:

Error

Code
(Hex)

Error

Code
(Dec)

Reason

Data Field

0x56

Queue is low. Number of yet unexecuted
PVT table rows has dropped below the
value stated in MP[4].

Field 1: Write pointer
Field 2: Read pointer

0x5b

Write pointer is out of physical range
([1…64]) of PVT table. Reason may be an
improper setting of MP[6].

Value of MP[6]

0x5c

PDO 0x3xx is not mapped.

0x34

An attempt has been made to program
more PVT points than are available in
queue.

Field 1: Index of PVT table
entry that could not be
programmed

0x7

Cannot initialize motion due to bad setup
data. The write pointer is outside the range
specified by the start and end pointers.

0x8

Mode terminated and motor has been
automatically stopped (in MO=1).

Data field 1: Write pointer

Data field 2:
1: End of trajectory in non-
cyclical mode
2: A zero or negative time
specified for a motion interval
3: Read pointer reached write
pointer

0x9

A CAN message has been lost.

Table 13-4: PVT CAN Emergency Messages

Note: Setting a new value for object 0x2F21 deletes all emergency events queued

for transmission.

Object description:

Index 2F21h

Name Emergency

events

Object code

VAR

Data type

UNSIGNED16