31.7.10.4 Object 1003h:
Pre-defined Error Field (PEF)
This object is used to latch the latest failure and its
properties.
-
Error code is latched by the bottom two bytes.
For details, refer to the error code list.
-
"Additional information" is latched by the top
two bytes. The top bytes of additional information (1002h, bits 16
to 23) are set up with the same information as the bottom bytes
(1001h).
-
The latch error number is stored in sub index
0.
Properties of the object
Object properties:
|
Sub index
|
Description
|
Data Type
Default
|
Access
PDO mapping
Backup
|
|
0
|
Sub index count = Total number of latched
errors
|
UNSIGNED8
0
|
rw (read-write)
×
×
|
|
1
|
Latest error
|
UNSIGNED32
—
|
ro (read only)
×
×
|
|
2
|
2nd last error
|
UNSIGNED32
—
|
ro (read only)
×
×
|
|
...
|
|
|
|
|
10
|
|
|
|
When a new error occurs, the displayed code moves to the sub
index at the upper level. That is, error of sub index 1 goes to sub
index 2, and error of sub index 2 goes to sub index 3. Afterward it
is processed similarly. A maximum of 254 errors are stored.
History of error codes can be deleted by writing value 0 to sub
index 0 of the object 1003h. The error codes are not deleted from
PEF even if the error is fixed.
All failures are notified by sending EMCY message ("emergency"
message). When the error conditions are removed, a no-error EMCY
message is sent (error code 0x0000).
Error code list
|
Error code (hexadecimal display)
|
Diagnostic message
|
Cause
|
|
0000
|
ERROR_RESET_OR_NO_ERROR
|
Error has disappeared
|
|
1000
|
GENERIC_ERROR
|
Internal communication error
|
|
6101
|
SOFTWARE_RX_QUEUE_OVERRUN
|
Overflow of receiving memory
|
|
6102
|
SOFTWARE_TX_QUEUE_OVERRUN
|
Overflow of sending memory
|
|
8100
|
COMMUNICATION
|
Error in sending and receiving synchronous
counter. EMCY is sent when the counter is greater than 96.
|
|
8120
|
CAN_IN_ERROR_PASSIVE_MODE
|
CAN controller interrupt
|
|
8130
|
LIFE_GUARD_ERROR
|
Node-Guarding error
|
|
8140
|
BUS_OFF
|
Overflow of sending buffer counter
|
|
