Baumer BA_DSRT_22DJ - Handbuch (Seite 20)

Manual_CANopen_StrainLink_EN_V3_05.doc 20/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
4.4.4 Emergency (EMGY)
Emergency messages signal errors in a node. The Emergency message contains a code that uniquely
identifies the error (defined in DS-301 and in the device profiles).
The Emergency messages are transmitted by the CANopen devices automatically.
Composition of the Emergency message:
Error-
code
Error-
register
Manufacturer specific error field
Overview of the error codes:
Error description
Errorreset / no error
General error
Current
Voltage
Temperature
Device hardware
Device software
Additional modules
Monitoring
External error
Additional functions
Device specific
Error code (hex)
00xx
10xx
2xxx
3xxx
50xx
6xxx
70xx
FFxx
8xxx
90xx
4xxx
F0xx
Overview of the Error register:
Bit Cause of error
0 General error
1 Current
2 Voltage
3 Temperature
4 Communication error
5 Device specific
6 Reserved (always 0)
7 Manufacturer specific
At the same time, the Error codes are also written into the Emergency history (object: 1003h).
The COB ID of the Emergency message is contained in object 1014h.