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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 43
3.4.2.5 Emergency service
The Emergency Service signals internal device errors via the CAN bus.
The error is sent to all network devices with an EMCY object according to
the "Consumer-Producer" relationship.
Figure 3.23 Error message with the EMCY object
EMCY message Causes of an EMCY comprise:
• asynchronous errors, error code = 1000
h
In the case of an internal
device error, the product switches to fault state in accordance with
the device's state machine. At the same time, the product transmits
an EMCY message with error register and error code.
• PDO4 error during operating mode control, error code = 8200
h
If
the request for an operating mode via PDO4 fails, the product also
sends an EMCY message.
• CAN communication error, error code = 8100
h
Figure 3.24 EMCY message
• Bytes 0, 1 (error code): CANopen error codeThis value is 1000,
8200
h
or 8100
h
, depending on the cause of the error.
• Byte 2: Error registerThe value is also stored in the object Error reg-
ister, 1001
h
.
• Byte 3 (Manufacturer-Specific Error Field):Manufacturer-specific
error, error class
Bytes 6 and 7 are 0. Bytes 4,5 contain a manufacturer-specific error
number.See the product manual for a list of the error numbers.
COB ID The COB ID for every device on the network supporting an EMCY object
is determined on the basis of the node address:
COB ID = Function code of EMCY object, 80
h
+ Node-Id
EMCY-Consumer
EMCY-Consumer
EMCY-Producer
COB-ID
CAN
EMCY-Consumer
data
Manufacturer specific error field
Error register
Error code
Error code
COB-ID (80
h
+ Node-ID)
1 2 3 4 5 6 7
22
0
12 00 00 00 0000 00
81
0 1
12 22
22 12
h