Temposonics
®
E-Series CANopen
Operation Manual
26
Emergency messages (EMCY)
Emergency objects are triggered by the incident of a CANopen device internal error situation and are transmitted onto the network.
Emergency objects are suitable for error alerts. An emergency object is transmitted only once per event.
After starting the system (Power-on, reset) the sensor will transmit an emergency object without reasonable data (power-on message).
This just indicates that the device is present in the network. Emergency objects go along with changes of the internal error status register.
An emergency object consists of 8 data bytes and is built like shown (Table 5).
COB ID
Request /
Respond
DLC
Byte
Description
0
1
2
3
4
5
6
7
0x080 + Node ID
Tx
8
Error code
Register
M a n u f a c t u r e r s p e c i f i c e r r o r f i e l d
0x0000
Error reset or no error
0x3100
Main voltage (generic)
0x5000
CANopen device hardware – generic error
0x6300
Data set (generic)
0x8100
Communication (generic)
0x8110
CAN overrun (objects lost)
0x8120
CAN in error or heartbeat error
0x8130
Life guard error or heartbeat error
0x8140
Recovered from bus off
0x8150
CAN ID collision
0x8210
PDO not processed due to length error
Example
COB ID
Request /
Respond
DLC
Byte
Description
0
1
2
3
4
5
6
7
0x080 + Node IDTx
8
0x00
0x31
0x05
Main operating voltage error generic
Register
Bit
Hex
Description
7
6
5
4
3
2
1
0
Manufacturer
specific
Reserved
Device profile
specific
Communication
error
Temperature
Voltage
Current
Generic error
0
0
0
0
0
0
0
0
0x00 No error
0
0
0
1
0
0
0
1
0x11 Communication error
0
0
0
0
0
1
0
1
0x05 Main voltage error
1
0
0
0
0
0
0
1
0x81 Transducer error
NOTICE
The emergency message error register is equal to the content of register 1001.
Table 5: Error codes
Table 6: Error code register
Example 3: Emergency message for voltage error