Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
53
5
CANopen profile via CAN
CAN Interfaces of MOVIDRIVE® B
5.4.4
The emergency object
The emergency object is always sent once by MOVIDRIVE
®
B when an error is detected
and when this error no longer exists. MOVIDRIVE
®
B sends an emergency object in the
event of the following errors.
• MOVIDRIVE
®
B sets the error bit in its status word.
• MOVIDRIVE
®
B operates in DC 24 V backup mode only; rotating field voltage is
missing.
• The lifeguarding protocol was disabled but was not executed cyclically within the
timeout time.
COB ID of the
emergency object
The COB ID should be changed in the "pre-operational" unit state. Although it can also
be changed in the operational status, the CAN controller is temporarily separated from
the bus. This means process data losses may occur in the operational status. Bit 29
must always be 0 because MOVIDRIVE
®
B only works with 11-bit COB IDs. The struc-
ture of the COB ID and the meaning of the individual bits are described in the following
tables. If MOVIDRIVE
®
B is not to send an EMCY object , you can deactivate it by setting
bit 31. The COB ID is addressed as unsigned long via index 1014
hex
, subindex 0.
In "initializing status", the MOVIDRIVE
®
B defines the COB ID of the emergency object
as 080
hex
+ slave address.
Inhibit time of the
emergency object
The inhibit time of the emergency object on the CANopen bus is given as unsigned 16
(2 bytes) via index 1015
hex
, subindex 0. The inhibit time is defined as a multiple of
100
μ
s, i.e. the value 3000 corresponds to an inhibit time of 300 ms.
Byte 1 Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
0
FF
hex
Error register
(object 1001
hex
)
0
Status word 1 of
MOVIDRIVE
®
B,
low
Status word 1 of
MOVIDRIVE
®
B,
high
0
0
Byte 1 Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7 Byte 8
0
31
hex
Error register
(object 1001
hex
)
0
0
0
0
0
Byte 1 Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
30
hex
81
hex
Error register
(object 1001
hex
)
0
0
0
0
0
Bit
31 (MSB)
30
29
28 - 11
10 - 0 (LSB)
0/1
0
0
0
11-bit identifier
Bit
Value
Meaning
31 (MSB)
0
EMCY exists / is valid
1
EMCY does not exist / is not valid
30
0
reserved (always 0)
29
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
28 - 11
0
If bit 29 = 0
X
If bit 29 =1: bits 28 - 11 of 29-bit SYNC COB ID
10 - 0 (LSB)
X
Bits 10 - 0 of SYNC COB ID
Summary of Contents for MOVIDRIVE MDX60B
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