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The Object Dictionary
138
1606218 02 08/2006
Object 1003H: Pre-defined Error Field
Description This object is a double word used to store the most recent faults, as well as their
characteristics:
The Error Code is stored to the least significant word.
The sub-index 0 contains the number of stored errors.
Characteristics The characteristics of this object are outlined in the following table:
Appearance of a
New Fault
When a new fault appears, the codes already present are moved into the upper level
sub-indexes: the fault in sub-index 1 is moved to sub-index 2, the fault in sub-index
2 is moved to sub-index 3, the fault in sub-index 10 disappears.
Clearing Faults The fault code history can only be cleared by writing the value 0 in the sub-index 0
of object 1003H.
Indicating Faults All faults are indicated by the sending of an "Emergency" message (EMCY
message). Once the source of the fault has been cleared, an EMCY message with
the No-error content is sent (Error-Code 0000H).
Sub-index Description Data type Default
value
Access PDO Mapping Backed up
0 Number of stored
errors
UNSIGNED8 0 rw no no
1 Most recent error UNSIGNED32 - ro no no
2 Second to last
error
UNSIGNED32 - ro no no
...
10
Note: Clearing a fault does not delete the error code from the Predefined Error
Field (PEF).