ioControl
40
12 Appendix
12.1 EMCY Object
The following error codes according to DSP-401 or DSP-301 are supported:
EMCY code
Error reg
Additional code
Description
0x6100
0x11
0x00
Internal Software
Overflow of an Rx queue e�g� frequency of the Rx
PDOs is too high�
Reset only externally via entry in the index 0x1003
SubIdx 00�
0x6101
0x11
0x00
Internal Software
Overflow of a Tx queue e�g� device does not
communicate with the bus�
Reset only externally via entry in the index 0x1003
SubIdx 00�
0x8100
0x11
0x00
Monitoring (Guarding Error)
No guard object is received for „guard time“ x „life time
factor“�
Reset with the next communication�
0x8200
0x11
0x00
Monitoring (Synch Error)
For "communication cycle" no synch object is received
Only in OPEATIONAL�
Reset with the next synch OBJ or PREOP�
CANopen does not provide for two identical EMCY objects to be sent
consecutively�
12.2 Object directory CR205x
Obligatory objects (index 0x1000…0x1FFF):
Index
S-idx Designation
Data type
Default
Details
0x1001
Device type
ro
UDINT
0x000F0191
Device type
0x1001
Error register ro
USINT
0
Error register bitcoded to profile
301
Permissible values:
0b0000 0000 = no error
0b0000 0001 = generic error
0b0001 0000 = communication
error
0b1000 0000 = manufacturer
specific
