IFM Electronic Ecomat Mobile Series System Manual page 114

ifm System Manual ecomatmobile SmartController (CR2500) V05
CAN in the ecomatmobile controller ifm CANopen library
Identifier
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
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 1003 (error field)
16
The object 1003 represents the error memory of a device. The sub-indices contain the errors
16
occurred last which triggered an error message.
If a new error occurs, its EMCY error code is always stored in the sub-index 1 . All other older errors
16
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 is increased to the
16
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
. Other values must not be
16
entered.
Signalling of device errors
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 → corresponding device manual.
Programmable devices only generate an EMCY message automatically (e.g. short circuit on an
output) if the function CANx_MASTER_EMCY_HANDLER (→ page 118) or function
CANx_SLAVE_EMCY_HANDLER (→ page 131) is integrated in the application program.
Overview of the automatically transmitted EMCY error codes for all ifm devices programmable with
CoDeSys → chapter Overview of the CANopen error codes (→ page 115).
If in addition application-specific errors are to be transmitted by the application program, the function
CANx_MASTER_SEND_EMERGENCY (→ page 120) or function
CANx_SLAVE_SEND_EMERGENCY (→ page 133) are used.
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