41 (60)
6.5
CANopen Emergency Messages
As CANopen is not a hierarchical master-slave system, and node monitoring only conveys the
communication state and not the actual node status, every node requires a high priority CAN
identifier to indicate error situations. This mechanism is referred to as
Emergency Messaging
and
the associated communication object
Emergency Message
.
An emergency message always consists of 8 data bytes (words). The first 2 words are used for
the error code, the third word contains a copy of the error register value (
1001h
), and the
remaing 5 words are reserved for vendor specific information.
0
1
2
3
4
5
6
7
Error code
Register
Vendor specific error field
In Anybus X-gateway CANopen the error codes can be read from the list in the Communication
Profile Object (CPO) at index 1003h. The following error codes are supported:
Error code
Description
0000h
Error reset or no error
6161h
Software error (master mode only) – see below
6600h
Hardware error
8110h
CAN overrun (objects lost)
8120h
CAN in error passive mode
8130h
Life guard error or heartbeat error
8140h
Recovered from bus off
8210h
PDO not processed due to length error
8220h
PDO length exceeded
FF10h
State error (slave mode only) — Indicates either of the following errors:
•
The module is in OPERATIONAL state although the Control Word is set to disallow this.
•
A CANopen master attempts to set the module in OPERATIONAL state although the Control
Word is set to disallow this.
Error code
6161h
will write an additional error code in the second word (bit 16–31):
31
16 15
0
Additional Information
Error code
Error Code
NodeID (if available)
61
61
Error code
Description
00h
No software error detected
01h
Tag for CMT record not available
02h
Cache management inconsistent
03h
SDO could not be transmitted
04h
Configuration entry inconsistent
05h
Checksum error
06h
Data could not be written to non-volatile memory
07h
SDO timeout
08h
SDO error
Anybus
®
X-gateway
™
CANopen
®
PROFINET
®
IRT (2.32) User Manual
SCM-1202-029 1.2 en-US
