CANopen communication
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05/16/2007
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Page 157 of 260
4.2.2.3 EMCY (Emergency Service)
Internal device errors are reported with the EMCY message. As PDOs are an
unconfirmed service, an invalid parameter value, which is set via PDO, for example,
can result in an EMCY message. Other typical events that are indicated via EMCY are
overload situations or overtemperature.
encoTRive can send EMCY messages, but not receive EMCY messages.
In the case of an EMCY message, the 8 bytes of user data in the CAN message can
be used to provide information on the cause of the error:
Error code
Error register
Manufacturer-specific error information
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Table 6: EMCY message
encoTRive does not use the field "Manufacturer-specific error information".
Object no. Description
0x1001
Error register.
Stores the value of the "Error register" field of the last EMCY message
0x1003
Pre-defined error field.
Stores the contents of the "Error code" field of the last EMCY messages. The last 8
error codes can be stored. With each new EMCY message, the older error codes are
moved back one index.
0x1014
COB-ID of the EMCY message
Table 7: Parameters for EMCY
The meaning of the various EMCY error information can be taken from Table 33 and
Table 34 from page 253.
Boot-up message
The CANopen profile defines an additional function of the EMCY message:
An EMCY message without a data field represents a
Boot-up message
, with which a
node indicates - after switch-on of all other nodes - that it is ready for operation.
