Baumer ATD - Manual (Page 21)

EtherCAT 21/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
3.2.1.3 Warnings
The encoder supports four classes of warnings:
Low Battery: The internal battery charge is checked one time after power up, if the capacity is low
this warning bit will be set.
High/Low-Temperature: This warning bit will be set if the temperature of the ADC exceeds the data
specified under 2.2. Short time exceeding is not registered by this system. Continuous tempera-
ture overrun may lead to position errors.
Internal ADC: This warning bit may be set if an internal serial interface error happen.
Light source: This bit reflects the light intensity of the light source. Light intensity decreases propor-
tional to life time and rotation speed of the system. Continuous low light intensity may lead to posi-
tion errors.
The Emergency Error Message data formatting partially according to IEC 61158-6-12 is:
Error Code Field Data Type Description
Error Code Word 0x5000 (Device Hardware Error)
EtherCAT State Byte 1 : INIT
2 : PREOP
4 : SAFEOP
8 : OP
Error Description Byte[5] [0] : 0x50
[1] : Encoder Hardware Emergency Code
[2] : 0x00
[3] : 0x00
[4] : 0x00
Table 21 Encoder hardware emergency
Encoder Hardware Emergency Code codification:
Byte Code Hardware Emergency Code Qualification
0x80 Opto chip over temperature Warning
0x40 Low battery
8
Warning
0x20 Internal ADC Warning
0x10 - -
0x08 - -
0x04 Position Error Error
0x02 - -
0x01 Light source Warning
0x00 No Error Info
Table 22 Hardware emergency code description
3.2.2 EtherCAT Specific Errors
ECAT specific errors are such configuration or communication errors that are communicated via AL Status
register and emergency messages.
3.2.2.1 Sync Manager Watch Dog
The SM Watchdog may be enabled if necessary. Watchdog enable/disable mechanism may be controlled by
the XML file. The XML description file has different device <device> <RevisionNo>, those revision numbers
are usable to configure the Sync Manger with enabled/disabled Watch Dog. Please refer to Table 5 Sync
Manager configuration.
8
For multi turn devices only