ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN errors and error handling
314
Structure of an error message
8047
The structure of an error message (EMCY message) is as follows:
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
EMCY error code as entered
in the object 1003
16
object 1001
16
manufacturer-specific
information
Identifier
8048
The identifier for the error message consists of the sum of the following elements:
EMCY default identifier 128 (80
16
)
+
node ID
EMCY error code
8049
It gives detailed information which error occurred. A list of possible error codes has already been
defined in the communication profile. Error codes which only apply to a certain device class are
defined in the corresponding device profile of this device class.
Object 0x1003 (error field)
8050
The object 1003
16
represents the error memory of a device. The sub-indices contain the errors
occurred last which triggered an error message.
If a new error occurs, its EMCY error code is always stored in the sub-index 1
16
. All other older errors
are moved back one position in the error memory, i.e. the sub-index is incremented by 1. If all
supported sub-indices are used, the oldest error is deleted. The sub-index 0
16
is increased to the
number of the stored errors. After all errors have been rectified the value "0" is written to the error field
of the sub-index 1
16
.
To delete the error memory the value "0" can be written to the sub-index 0
16
. Other values must not be
entered.
Signalling of device errors
8051
As described, EMCY messages are transmitted if errors occur in a device.
> In contrast to programmable devices error messages are automatically transmitted by
decentralised input/output modules (e.g. CompactModules CR2033).
Corresponding error codes
respective device manual.
> The programmed devices only automatically generate an EMCY message for guarding and
heartbeat errors.
Overview of EMCY error codes for all
ifm
devices programmable with CoDeSys
chapter
Overview CANopen error codes
(
→
).
If, in addition, application-specific errors are to be transmitted by the application program,
CANOPEN_SENDEMCYMESSAGE (
→
) is used.
