Siemens SINAMICS S120 Commissioning Manual page 126

Diagnosis
5.1 Emergency object
Emergency message frame
When an error occurs, the CANopen drive unit automatically transmits an emergency
message asynchronously. The emergency message is structured as follows (see table
below):
Table 5- 1
Byte 0
CANopen Errorcode
The CANopen error code is in byte 0 and 1 (refer to the following Chapter).
The codings for the CANopen error register are located in byte 2 (refer to the following
section).
Byte 5 contains the number of the drive object from which the error originated.
Alarms that do not result in a shutdown are indicated only by the alarm bit or fault bit in the
status word and do not trigger an emergency message. Faults trigger emergency messages
and cause the drives to be shut down. The master can then read the alarm or fault during a
period of free bus time. The fault message frame can be suppressed by setting bit 31 in
object 1014 hex.
126
Structure of the emergency message frame
Byte 1 Byte 2
CANopen
Error
Register
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Byte 3 Byte 4
SINAMICS fault
number
Byte 5 Byte 6
Drive Reserved
object
number
CANopen interface
Byte 7
Reserved