Canopen Emergency Messages - HMS Anybus X-gateway CANopen User Manual

CANopen Module Specification
6.5

CANopen Emergency Messages

As CANopen is not a hierarchical master-slave system, and node monitoring only conveys the
communication state and not the actual node status, every node requires a high priority CAN
identifier to indicate error situations. This mechanism is referred to as Emergency Messaging and
the associated communication object Emergency Message.
An emergency message always consists of 8 data bytes (words). The first 2 words are used for
the error code, the third word contains a copy of the error register value (1001h), and the
remaing 5 words are reserved for vendor specific information.
0
Error code
In Anybus X-gateway CANopen the error codes can be read from the list in the Communication
Profile Object (CPO) at index 1003h. The following error codes are supported:
Error code
0000h
6161h
6600h
8110h
8120h
8130h
8140h
8210h
8220h
FF10h
Error code 6161h will write an additional error code in the second word (bit 16–31):
31
Error Code
Error code
00h
01h
02h
03h
04h
05h
06h
07h
08h
Anybus ® X-gateway ™ CANopen ® PROFINET
1 2
Register
Description
Error reset or no error
Software error (master mode only) – see below
Hardware error
CAN overrun (objects lost)
CAN in error passive mode
Life guard error or heartbeat error
Recovered from bus off
PDO not processed due to length error
PDO length exceeded
State error (slave mode only) — Indicates either of the following errors:
• The module is in OPERATIONAL state although the Control Word is set to disallow this.
• A CANopen master attempts to set the module in OPERATIONAL state although the Control
Word is set to disallow this.
Additional Information
NodeID (if available)
Description
No software error detected
Tag for CMT record not available
Cache management inconsistent
SDO could not be transmitted
Configuration entry inconsistent
Checksum error
Data could not be written to non-volatile memory
SDO timeout
SDO error
® IRT (2.32) User Manual
3 4 5
Vendor specific error field
16 15
61
41 (60)
6 7
Error code
61
SCM-1202-029 1.2 en-US
0