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Diagnostics
1606218 02 08/2006 127
CANopen Objects Diagnostics
Description When an error is detected by the FTB splitter box, the following objects are updated.
These objects are described in more detail in the "object dictionary" chapter:
The object 1001H, Error Register displays the generic errors. See Objects
dictionary (see Object 1001H: Error Register, p. 136)
The object 1002H Manufacturer Status Register displays the errors specific to
the FTB splitter box. Objects dictionary (see Object 1002H: Manufacturer Status
Register, p. 137)
The object 1003H, Pre-defined Error Field saves the latest error codes
transmitted by the FTB splitter box. Objects dictionary (see Object 1003H: Pre-
defined Error Field , p. 138)
The object 3000H, Manufacturer Specific Diagnostic provides information
about the status of the FTB splitter box. Objects dictionary (see Object 3000H:
Manufacturer Specific Diagnostic, p. 174)
EMCY Message
Structure
For each error, the EMCY message is sent by the splitter box that detected the fault
via the network (see table structure below).
Once the error has been cleared an EMCY message is sent again, incorporating an
"Error code" = 0.
The EMCY message consists of 8 data bytes outlined in the following table:
Byte 0-1 2 3-4 5 6 7
Contents Error code Error register Reserve
d
Channel 10 to
17 diagnostics
Channel 00 to
07 diagnostics
Manufacturer
status register
Corresponding
object
1003H 1001H - Depends on the type of error. See Channel
diagnostics (see Channel Diagnostics (EMCY
Bytes 5-6-7), p. 129)
Note: For default configuration and where the user has activated it, the 1805H
PDO includes the diagnostics information.