Service Data Objects (Sdo); Emcy Messages - Siemens Simatic Operating Instructions Manual

Functions
4.1 CANopen
4.1.1.4

Service Data Objects (SDO)

The PN/CAN LINK enables read/write access from the S7 user program to the OD of other
CANopen nodes by means of SDO.
The PN/CAN LINK provides 16 data records on the PROFINET side of the PN/CAN LINK
which the S7 user program can access with the help of the acyclic PROFINET IO services
RDREC (Read data record) and WRREC (Write data record).
Note
This functionality is only available in the "CANopen Manager" operating mode.
Detailed information is available in the section Acyclic data exchange between controller and
PN/CAN LINK (Page 31).
4.1.1.5

EMCY messages

EMCY messages
The PN/CAN LINK transmits the following EMCY messages:
Error code
8Fxxh
8130h
FF90h
FF91h
The EMCY messages always use the default COB ID intended for this purpose.
22
Meaning
Heartbeat or node guarding error for node <xx>
Is transmitted when the PN/CAN LINK is in "CANopen Slave" operating
mode and the heartbeat for a monitored node fails.
General heartbeat or node guarding error for node <xx> Is transmitted
when the PN/CAN LINK is in "CANopen Slave" operating mode, node
guarding is enabled and monitoring by the master fails.
Is transmitted when the connection to the S7 controller fails, that is when
the connection (Application Relation) is terminated or when the data from
the S7 controller has the IO provider status "Bad".
When the PN/CAN LINK is operated as "CANopen Slave", this EMCY mes-
sage is transmitted again when the NMT Manager tries to set the PN/CAN
LINK to the "Operational" state.
Is transmitted when the PN/CAN LINK is operated as "CANopen Slave"
and the desired state transmitted by the S7 controller in the cyclic data
changes to "OFF".
Is also transmitted when the NMT Manager tries to set the PN/CAN LINK to
"Operational" state while the desired state transmitted in the cyclic data
from the S7 controller is still "OFF".
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB