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CabinetModule CR2012
14
7.5 EMCY objects
The following error codes are supported according to DSP-301 and DSP-401:
EMCY code
Error reg
Additional
code
Description
0x6100
0x11
0x00
"Internal Software":
overflow of an Rx queue; e�g� frequency of the Rx PDOs
too high
only external reset via an entry in 1003 00
0x6101
0x11
0x00
"Internal Software":
overflow of a Tx queue; e�g� device does not
communicate with the bus
only external reset via an entry in 1003 00
0x8100
0x11
0x00
"Monitoring" (guarding error)
no guard object is received for "guard time" x "life time
factor"
reset with the next communication
0x8120
0x11
0x00
"Communication" (CAN error passive)
CAN controller has passed into the CAN error passive
state
0x8200
0x11
0x00
"Monitoring" (synch error)
for "communication cycle" no synch object is received;
only in OPERATIONAL
reset with the next synch OBJ or PREOP
7.6 Boot-up message
The module sends a boot-up message after application of the supply voltage or
after a reset, to inform a CANopen master in the network about its presence or a
restart�
To ensure the compatibility with older device versions, a boot-up message is sent
in accordance with CANopen specifications DS-301 V3 and V4�