SFA-5000 • SFA-10000 CANopen®
7000h
Additional modules – generic error
8000h
Monitoring – generic error
8100h
Communication – generic
8110h
CAN overrun (objects lost)
8120h
CAN in error passive mode
8130h
Life guard error or heartbeat error
8140h
Recovered from bus off
8150h
CAN-ID collision
8200h
Protocol error - generic
8210h
PDO not processed due to length error
8220h
PDO length exceeded
8230h
DAM MPDO not processed, destination object not available
8240h
Unexpected SYNC data length
8250h
RPDO timeout
9000h
External error – generic error
F000h
Additional functions – generic error
FF00h
Device specific – generic error
6.11 Node guarding protocol
This protocol is used to detect remote error in the network. Each NMT Slave uses
one remote COB for the Node Guarding protocol. This protocol implements the
provided initiated Error Control services.
MAN SFA_5000_10000_CB E 1.0.odt
6 - CANopen® interface
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