CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
LATCHING FAULT STATUS REGISTER INDEX 0X2183
Type Access Units Range Map PDO Memory
Unsigned 32 RC - - YES R
Description
Bit-mapped to show which latching faults have occurred in the amplifier. When a latching fault has
occurred, the fault bit (bit 22) of the Manufacturer Status Register object (index 0x1002, p. 60) is
set. The cause of the fault can be read from this register.
To clear a fault condition, write a 1 to the associated bit in this register.
The events that cause the amplifier to latch a fault are programmable. See Fault Mask object
(index 0x2182, p. 68) for details.
Latched Faults
Bit Fault Description
0 Data flash CRC failure. This fault is considered fatal and cannot be cleared.
1 Amplifier internal error. This fault is considered fatal and cannot be cleared.
2 Short circuit.
3 Amplifier over temperature.
4 Motor over temperature.
5 Over voltage.
6 Under voltage.
7 Feedback fault.
8 Phasing error.
9 Tracking error.
10 Over Current,
11 FPGA failure.
12 Command input lost.
13 FPGA failure (yes, there are two bits for this, they mean slightly different things)
14 Safety circuit fault.
15 Unable to control current.
16-31 Reserved.
STATUS OF SAFETY CIRCUIT INDEX 0X219D
Type Access Units Range Map PDO Memory
Integer32 - - R
Description
This parameter allows the status of the safety circuit built into some amplifiers to be queried. For
amplifiers without a safety circuit, this parameter is reserved.
Bit Description
0 Set when safety input 0 is preventing the amplifier from enabling.
1 Set when safety input 1 is preventing the amplifier from enabling.
8 This read/write bit can be used to force the ‘amplifier is unsafe’ output of the safety circuit to go active for
testing purposes. Write 1 to force.
Copley Controls 69