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8.9 Troubleshooting
Emergency object telegrams (EMCY telegrams)
EMCY telegrams are sent at startup or after any changes at an inhibit time of 50 ms.
Byte
Contents
0 … 1 = Emergency Error Code
2 = Error register
Object 0x1001
3 = IO offset 0x21nn (with nn as offset)
4 … 7 = Manufacturer-specific error field
Always 0 is sent.
Tab. 46:
Byte values of Emergency objects
Error memory (error history)
The EMCY errors are stored in a stacked memory. The sub-index 1 gives you access to the lat-
est error.
Byte
Contents
0 … 1 = Emergency Error Code
2 = Error register
Object 0x1001
3 = IO offset 0x21nn (with nn as offset)
Tab. 47:
Byte values of the error memory
The error memory can be accessed via index 0x1003.
Index
Subindex
Description
Type
Dir
Default
value
0x1003
0
Number of errors
U8
R/W
0
Entering 0 clears the entire memory.
Values > 0 are not allowed.
1
Latest „Error Field“ entry
U32
R
2 … 254
Other current "Error Field" entries
U32
R
Tab. 48:
Subindeces of the error memory
Emergency Error Codes
Code
Description
0x0000
No error or error reset
0x1000
Generic error
0x2300
Total current is too high
0x3100
Voltage exceeds the permitted limits
0x4200
Device temperature is too high
0x8110
CAN data overrun (lost objects)
0x8130
Life guard error or heartbeat error
0x8140
Recovered from bus-off
0x8210
Processing errors due to incorrect length of PDOs
0x8220
PDO length exceeded
0xff00
Configuration error on the device
0xff01
IO port OVERVOLTAGE
0xff02
IO port OVERCURRENT
0xff03
IO port SUPPLYFAULT