Aventics CANopen Instrucciones De Servicio página 106

106 AVENTICS | CANopen, CANopen sb | R412009415-BDL-001-AE
Appendix
Table 25: Coding of the error states in EMCY telegram
Byte 0
EMCY error code ErrorReg
Error reset 0x00
Received 0x10
invalid PDO
Guarding 0x30
failure
BUSOFF 0x00
Comm. error 0x00
Queue 0x10
overrun
CAN ES SET 0x20
CAN ES 0x20
RESET
Diagnosis 0xFF
EMCY error code
ErrorReg
The coding of the individual error states can be taken
from the following table:
1 2
1001h
0x00 0x00
0x82 ErrorReg
0x81 ErrorReg
0x81 ErrorReg
0x81 ErrorReg
0x81 ErrorReg
0x81 ErrorReg
0x81 ErrorReg
0xFF ErrorReg
00xx: Error reset or no error
8210: PDO not processed due to length error
8130: Life guard error
8100: Communication
8110: CAN overrun (objects lost)
8120: CAN in error passive mode
FFFF: Device-specific
10: Communication error (overrun, error state)
80: Manufacturer-specific
3 4
Manufacturer-specific error field
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
Diag. Diag
status DataLen
2020 2020
sub2 sub1
5 6 7
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
Diag 0x00 0x00
Data0
2020
sub3