Emergency objects
(Original Document)
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At a Glance
Emergency objects (EMCY) have been defined for CANopen for diagnostic applications.
The COB-ID of these objects contain the identity of the node of the device which produced the emergency message. The COB-ID of emergency objects are constructed in the following manner:
The data field of an EMCY object is composed of 8 bytes containing:
The following illustration shows the structure of an EMCY object:
NOTE: the contents of the detected error code and error register are specified by CiA.
With the Error tab, you can consult the 4 last emergency messages received, in chronological order.
NOTE: Regarding Safety considerations, “Emergency objects” and “Fatal error” are mentioned in this manual in conformance with the definition from the DS301 document of the CiA (CAN in Automation).
Detected error code 00xx
The following table describes the content of detected error code 00xx:
Detected error code (hex)
Description
00xx
Error reset to zero or no error
Detected error code 10xx
The following table describes the content of detected error code 10xx:
Detected error code (hex)
Description
10xx
Generic error
Detected error code 2xxx
The following table describes the content of detected error code 2xxx:
Detected error code (hex)
Description
20xx
Current
21xx
Current, input side of the device
22xx
Internal current to the device
23xx
Current, output side of the device
Detected error code 3xxx
The following table describes the content of detected error code 3xxx:
Detected error code (hex)
Description
30xx
Voltage
31xx
Principal voltage
32xx
Internal voltage to the device
33xx
Output voltage
Detected error code 4xxx
The following table describes the content of detected error code 4xxx:
Detected error code (hex)
Description
40xx
Temperature
41xx
Ambient temperature
42xx
Device temperature
Detected error code 50xx
The following table describes the content of detected error code 50xx:
Detected error code (hex)
Description
50xx
Device hardware
Detected error code 6xxx
The following table describes the content of detected error code 6xxx:
Detected error code (hex)
Description
60xx
Device software
61xx
Internal software
62xx
User software
63xx
Data set
Detected error code 70xx
The following table describes the content of detected error code 70xx:
Detected error code (hex)
Description
70xx
Additional modules
Detected error code 8xxx
The following table describes the content of detected error code 8xxx:
Detected error code (hex)
Description
80xx
Monitoring
81xx
Communication
8110
CAN overflow (objects lost)
8120
CAN in passive error mode
8130
Life Guard error or Heartbeat error
8140
Recovered from bus
8150
Collision during COB-ID transmission
82xx
Protocol error
8210
PDO not processed due to length error
8220
PDO length exceeded
Detected error code 90xx
The following table describes the content of detected error code 90xx:
Detected error code (hex)
Description
90xx
External error
Detected error code Fxxx
The following table describes the content of detected error code Fxxx:
Detected error code (hex)
Description
F0xx
Additional functions
FFxx
Specific to the device