Emcy Error Codes - Aventics CANopen Instrucciones De Servicio

Table 40: Coding of the error states in EMCY telegram
Byte
Error Reset
received invalid PDO
Guarding Failure
BUSOFF
Comm. Error
Queue Overrun
CAN ES SET
CAN ES RESET
Diagnosis
EMCY error code
AVENTICS | CANopen | R412005742–BDL–001–AD
1 PDO, i.e. the slave only transmits the PDO in which the
W
entries have changed when one or more inputs have been
changed. This setting is, however, only relevant in
asynchronous operation. In synchronous operation, all input
PDOs are always sent after a SYNC telegram.

13.5 EMCY error codes

The slave transmits an emergency telegram (EMCY) during
power-on and when there is an error. The set-up of the EMCY
telegram is consistent with the definitions of the CANopen
communication profile according to CiA DS-301.
The coding of the individual error states can be taken from the
following table:
0 1
EMCY Error ErrorReg
Code 1001h
0x00 0x00 0x00
0x10 0x82 ErrorReg
0x30 0x81 ErrorReg
0x00 0x81 ErrorReg
0x00 0x81 ErrorReg
0x10 0x81 ErrorReg
0x20 0x81 ErrorReg
0x20 0x81 ErrorReg
0xFF 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
2 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
sub1 sub0
153
Appendix
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
sub2