Cia 402; Error Finite State Machine - Festo CMMT-ST-SW Original Instructions Manual

EtherCAT
11.8.2.1

CiA 402

Emergency communication objects
Parameters Index.Subindex
Px. CiA301: profile-specific objects.
7602.0.0 0x1001.00
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
7602 0x2196.01
Tab. 475 Objects
11.8.2.2

Error finite state machine

Start
0
Error free
2
1
Error occured
3
Fig. 118 Diagram: Error finite state machine
The following status transitions are possible:
No. Cause
0 Initialisation completed
1 Error occurs
2 Error acknowledgment not
successful
3 New error occurs
4 Error acknowledgment suc-
cessful
Tab. 476 Error status transitions
Festo — CMMT-ST-SW — 2019-02
Name
Error register CiA402
Error register CiA402
4
Description
There is no error.
No error is present, and a new error occurs.
An emergency message is transmitted with the error code
of the new error.
Not all causes of error are remedied and an error was
acknowledged
9.4.5 Acknowledging messages and errors.
è
An error is present, and a new error occurs.
An emergency message is transmitted with the error code
of the new error.
All causes of error are remedied, and an error was acknow-
ledged 9.4 Servo drive messages. The emergency mes-
è
sage is transmitted with the error code 0x0000 (No
error/Error reset).
Data type
UINT8
UINT8
541