Lenze EPM−T9XX Modular system - Manual (Page 250)

Diagnostics
Emergency telegram
9
Network via CANopen
9.10
9.10.1
L
9.10−2 EDSPM−TXXX−9.0−11/2009
9.10.1 Emergency telegram
By means of the emergency telegram, the I/O system IP20 communicates internal
device errors to other system bus nodes with high priority. 8 bytes of user data are
available.
Index Name Possible settings Important
Lenze Selection
I1014
h
COB ID emergency Emergency telegram
Identifier 80h + node address is displayed
after boot−up. ^ 9.10−2
Emergency telegram structure
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
LOW byte HIGH byte Error register Error information
Error code Error code I1001
h
1 2 3 4 5
Contents of the emergency telegram
Error cause Byte 0 Byte 1 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Emergency telegram reset 0000
h
00
h
00
h
00
h
00
h
00
h
Error on initialisation of modules linked to
backplane bus
1000
h
01
h
00
h
00
h
00
h
00
h
Error on module configuration check 02
h
Slot number 00
h
00
h
00
h
Error on module read/write 03
h
Slot number 00
h
00
h
00
h
Module configuration was changed 05
h
00
h
00
h
00
h
00
h
Configuration of the modules has been
changed. The module is in the Pre−Operational
state.
06
h
00
h
00
h
00
h
00
h
Incorrect module parameterisation 30
h
Slot number 00
h
00
h
00
h
Diagnostic alarm − analog module 40
h
+
Slot number
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
Process alarm − analog module 80
h
+
Slot number
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
PDO control (monitoring time in I2400
h
has
been exceeded).
FF
h
10
h
PDO number
Monitoring time
(LOW byte)
Monitoring time
(HIGH byte)
SDO/PDO mapping error
6300
h
Map index
(LOW byte)
Map index
(HIGH byte)
Number of entries 00
h
00
h
Heartbeat error (monitoring time exceeded).
8130
h
Subindex Node address
Monitoring time
(LOW byte)
Monitoring time
(HIGH byte)
00
h
Node guarding error (monitoring time
exceeded).
8130
h
Guard time
(LOW byte) Guard time
(HIGH byte)
Life time 00
h
00
h