CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
133
Emergency
78827659
A CANopen slave with the address N sends an emergency message to inform the other devices of an
error state.
Table 93: Emergency messages
CAN-ID
DLC
DATA
80h + N
8
ErrL
ErrH
Err-
Reg
M1
M2
M3
M4
M5
ErrL, ErrH
Emergency error code, 16-bit Low Byte/High Byte
7001h … 7003h: General error
Err-Reg
Error register, CANopen object SDO 1001h
M1
Module index M1 (corresponds to the module address in the module list) of
the module causing the error.
The module number can be determined using the subindex (= M1 + 1) of SDO
1027. The module number is used as an index for the status bits (see below:
Table “CANopen Emergency Messages").
M2 … M5
4 bytes, module-specific state bits. Active bits are high (= "1").
(see below: Table “CANopen Emergency Messages")
The following table shows the module-specific diagnostic data and the corresponding error messa-
ges.
Table 94: CANopen emergency messages
Module
no.
Diagnos-
tic bit
(M5 … M
2)
Emergency
cause
Emergency message
01
00
samosPRO SP-SCON
Reserved
01
Internal error: Internal tests failed
02
Power supply not in permitted range
03
Reserved
04
Configuration of a module in the sys-
tem is incompatible or invalid
05
Power supply not in permitted range
06
Reserved
07
Communication error on EFI2
08 to 31
Reserved
10
1)
,
11
2)
,
12
3)
,
13
4)
00
Controller module
Reserved
01
Internal error: Internal tests failed
02
External error: External tests failed
03
Power supply at A1 not in permitted
range
04
Configuration of a module in the sys-
tem is incompatible or invalid
05
Power supply at B1 not in permitted
range
06
Fast Shut Off collective error
10.6
