Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx
15/23
Baumer
– Sensor Systems s.r.l.
03.12.2019
Chiari (Bs), Italy
7 Emergency Service
7.1
General
If there is an error on the device, the device commits an emergency message and sets the corresponding bits in the error
register (Object 1001h).
Error codes are accessible by the error field (object 1003h-x). A history of maximal 8 error codes is stored in the error
field.
7.2
COB-ID
The COB-ID for the emergency message can be modified in object 1014h.
Default Value: 80h + node ID
Changes will be applied immediately.
The COB-ID is stored internally as a difference to the default COB-ID. Example:
Node ID: 4
COB-ID Emergency: 84h (Default value)
COB-ID Emergency: 87h (Changed by user)
Node ID: 9
COB-ID Emergency: 89h (Adapted automatic)
7.3
Emergency message
The emergency message is transmitted if an error is indicated in the error register.
COB-ID
DLC Byte0 Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80h+node ID
8
Error code
Error register
(object 1001h)
-
-
-
-
-
7.4
Error register
Error register (object 1001h)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Manufacturer error
-
-
Communication error
Generic error
7.4.1
Communication error
Communication errors are indicated if the internal CAN message buffers are overflowed or there are malformed CAN
frames on the bus. After a communication error the device changes to pre-operational mode.
7.4.2
Generic error
A generic error is indicated for all other errors.
An encoder specific alarm or warning will also cause a generic error.
After a generic error the device changes to pre-operational mode.
7.5
Error codes / EMCY messages
The following error codes are generated by the device:
Error Code
Meaning
0x0000000000000000
Error reset or no error
0x0010010000000000
Generic error
0x1081110000000000
CAN RX overflow
0x1082110000000000
PDO not processed due to length error
0x01FF810000000000 Wire break
0x02FF810000000000 Error reading length
0x03FF810000000000 Error reading hall sensor (only for GCA3/5)
