Emergency - Wieland samos PRO COMPACT Manual

10.6

Emergency

949479691
A CANopen slave with the address N sends an emergency message to inform the other de-
vices of an error state.
Table 88: Emergency messages
CAN-ID
80h + N
ErrL, ErrH
Err-Reg
M1
M2 ... M5
The following table shows the module-specific diagnostic data and the corresponding error
messages.
Table 89: CANopen emergency messages
Module
no.
01
11, 12
and 13
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
DLC DATA
8 ErrL ErrH
Emergency error code, 16-bit Low Byte/High Byte
7001h ... 7003h: General error
Error register, CANopen object SDO 1001h
Module index of the module causing the error (the module number can
be determined using the module index and the module list according to
the SDO 1027)
(see below: Table "CANopen Emergency Messages")
4 bytes, module-specific state bits. Active bits are high (= "1").
(see below: Table "CANopen Emergency Messages")
Diagnostic bit Emergency
(M2 ... M5)
cause
00 samosPRO
SP-SCON
01
02
03
04
05
06
07
08 to 31
00 Controller
module
01
02
03
04
05
06
07
08 to 95
CANopen gateway
Err-Reg M1 M2
Emergency message
Reserved
Internal error: Internal tests failed
Power supply not in permitted range
Reserved
Configuration of a module in the system is
incompatible or invalid
Power supply not in permitted range
Reserved
Reserved
Reserved
Reserved
Internal error: Internal tests failed
Power supply not in permitted range
Reserved
Configuration of a module in the system is
incompatible or invalid
Power supply not in permitted range
Reserved
Reserved
Description of bits 8 to 959: See
ing of the module state bits" [ch. 3.3.5, p. 23]
M3 M4 M5
Table "Mean-
140