SICK TMM61 Series, Operating Instructions Manual

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Table 46: Emergency object
Emergency object
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
Emergency error code Error regis‐
ter
(1001h)
Manufacturer-specific error field
Bit field
Communi‐
cation
error
Bit field
Device
error
0x00 0x00 0x00
Table 47: Emergency error code
Emergency error codes
0x0000 An error has been reset or there are no more errors pending (error register = 0)
0x5010 Sensor error / sensor error X, angle value outside measuring range
0x5020 Sensor error Y, angle value outside measuring range
0x8110 Receive / send buffer overflow, CAN messages lost
0x8120 CAN warning limit exceeded
0x8130 Failure of the guarding master detected (node guard event)
0x8140 Exit busoff status
Table 48: Emergency: Manufacturer-specific error field
Bit field
Device error
0x01 Sensor error, only types: TMS88/TMS61
0x01 Sensor error, X axis, only types: TMM88/TMM61
0x02 Sensor error, Y axis, only types: TMM88/TMM61
0x80 EEPROM error: An error occurred when saving the configuration
Communication error
0x01 CAN warning limit exceeded (too many error frames)
0x02 CAN busoff status reached.
An emergency message is sent after automatically exiting busoff status.
0x04 Receive queue overrun, receive buffer overrun, CAN messages lost
0x08 Send queue overrun, send buffer overrun, CAN messages lost
0x80 Guarding error; the failure of the guarding master has been detected (node guard
event)
9.9 Automatic baud rate detection (to CiA AN-801)
Automatic baud rate detection automatically sets the baud rate of the inclination sen‐
sor to the current baud rate on the network. For this purpose, following switching on of
the power supply, the inclination sensor is in what is known as listen-only mode. In this
mode, it monitors the messages that are being sent and received on the CAN bus but
does not acknowledge them. This operational status is indicated by the RUN LED flick‐
ering (see also chapter
Status LED (to CiA DR-303-3) ).
In this status, it is testing all available baud rates. When a valid CAN telegram is
received, the correct baud rate is identified and set. After this, the inclination sensor
starts up, logs in with a boot-up message, and switches to Pre-Operational mode.
9
CANOPEN INTERFACE
42 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice