Details of T_COM_CO_BMX_EXPERT IODDT
(Original Document)
About us
Implicit Exchange Objects of the IODDT
Implicit exchange objects are automatically exchanged at each cycle of a task associated with the channel. These objects are %I, %IW, %Q and %QW.
The table below presents the various implicit exchange objects of IODDT T_COM_CO_BMX_EXPERT.
The parameters r, m and c shown in the following-tables represent the topological addressing of the module. Each parameter has the following signification:
Channel Error
The table below presents the bit %Ir.m.c.ERR:
Standard symbol
Type
Access
Description
Address
CH_ERROR
BOOL
R
Channel detected error
%Ir.m.c.ERR
Master Status and Event Indicator
The table below shows the words %IWr.m.c.0 to %IWr.m.c.2:
Standard symbol
Type
Access
Description
Address
COMM_STS
INT
R
Communication status of Master
%IWr.m.c.0
CAN_STS
INT
R
Status of CANopen Master
%IWr.m.c.1
EVT_STS
INT
R
Event indicator
%IWr.m.c.2
The following figure gives an example of Master status indicator.
In this example, the word %IW0.0.2.1 gives the status of the CANopen Master. The parameters are as follows:
The last parameter (‘1’) indicates the used word (CAN_STS).
The table below shows the meaning of bits from various status words from the master and event indicators:
Addresses
Description
Bit meaning
%IWr.m.c.0
Communication status of Master
Bit 0 = 1: Overflow of the low priority reception queue. The CANopen Master receives "Heartbeat" and "Node guarding" messages as well as SSDOs and CSDOs via the low priority queue.
Bit 1 = 1: FIFO overwrites the CAN controller.
Bit 2 = 1: The CAN controller has the status BUS OFF.
Bit 3 = 1: CAN controller doesn't run correctly and stops. This bit is reset when the condition disappears.
Bit 4 = 1:The CAN controller has left an abnormal state.
Bit 5 = 1: Overflow of the low priority emission queue. The CANopen Master transmits "Heartbeat" and "Node guarding" messages as well as SSDOs and CSDOs via the low priority transmission queue.
Bit 6 = 1: Overflow of the high priority reception queue. The CANopen Master receives RPDOs, NMT commands, the message Sync and emergency messages via the high priority reception queue.
Bit 7 = 1: Overflow of the high priority transmit queue. The CANopen Master sends TPDOs, NMT commands, the message Sync and emergency messages via the high priority queue.
Bit 8 = 1: Indicates that the task cycle is faster than the CANopen Master cycle (outputs can be overwritten). To avoid overwriting, it is recommened to set a longer task cycle time than the CANopen cycle. The cycle values are available in the words %IWr.m.c.59 to %IWr.m.c.61.
%IWr.m.c.1
Status of CANopen Master
= 0x00 INIT: The CANopen Master is not initialized. This corresponds to the INITIALISATION status of the CANopen module. In this state, the CANopen Master cannot communicate with the network.
= 0x40 RESET: The CANopen Master is configured as master during NMT STARTUP. The object dictionary of CANopen Master can be configured by SDOs via the CAN bus and the interface of the SDO command. The application has read/write access rights to the object dictionary via the SDO command. The initialization of network manager has not yet started.
= 0x60 NET INIT: Start-up according to CIA DSP-302. The CANopen Master checks the allocation of the slaves.
= 0x61 NET RESET: The network is re-initialized by the NMT command RESET COMMUNICATION ALL NODES.
= 0x62 NET WAIT: The CANopen Master waits (waiting time be defined) to allow the modules to run the command RESET COMMUNICATION.
= 0x64 BOOT CONF: The CANopen Master initializes modules according to CIA DSP-302 by scanning the network.
The high nibble of the state variable indicates the general network state: CLEAR, RUN, STOP and PREOPERATIONAL.
The low nibble contains additional information:
  • Bit 0: Detected error bit for optional and unexpected modules:
    • 0: No error is detected.
    • 1: There is at least one optional or unexpected module that does not correspond to the expected network configuration.
  • Bit 2: General operational bit:
    • 0: No module (including the CANopen Master) is in the CANopen OPERATIONAL state.
    • 1: At least one module (but not including the CANopen Master) is in the CANopen OPERATIONAL state.
  • Bit 3: General operational bit:
    • 0: The CANopen Master is not in the OPERATIONAL state.
    • 1: The CANopen Master is in the OPERATIONAL state.
= 0x8x CLEAR: The network is scanned. The Master is waiting for a start command (START CANopen MASTER/MANAGER or START NETWORK).
= 0xAx RUN: The network is in the OPERATIONAL state.
= 0xCx STOP: The network is in the STOP state.
= 0xEx PREOPERATIONAL: The network is in the PREOPERATIONAL state.
= 0x9x FATAL ERROR: The CANopen Master is inoperative and must be re-initialized.
%IW0.y.2.2
Event indicator
Bit 0 = 1: This bit is always set when a detected error has occurred in communication with the network. The communication status of CANopen Master gives the exact reason. (The CANopen Master is unable to run correctly and stops).
Bit 1 = 1: A module is using the node number of CANopen Master. (The CANopen Master is unable to run correctly and stops).
Bit 2 and Bit 3: Reserved.
Bit 4 = 1: There is a detected identity error for an optional module. The boot slave process is repeated.
Bit 5 and Bit 6: Reserved.
Bit 7 = 1:This bit is set if a bit in one of the bitlists changes.
Bit 8 = 1: At the beginning of the start-up procedure, the CANopen Master checks the individual slave assignments. This bit is set by the slave assignment if a module that contain features which are not supported by the CANopen Master (for example, bit 4 to bit 6 of object 1F81H: the CANopen Master is unable to run correctly and stops).
Bit 9 = 1: The CANopen Master has received an RPDO with not enough data bytes. (The CANopen Master does not change its state.)
Bit 10 = 1: Inconsistent or mismatch DCF bit.
If a DCF inconsistent error is detected and if the state is:
  • < CLEAR, then the CANopen Master is unable to run correctly and stops
  • >= CLEAR, then there is an indication in the event queue and slave is not rebooted
If there is a mismatch between a DCF and the slave’s Object Dictionary, which results in an SDO abort during the DCF download, then there is an indication in the event queue and the manager retries downloading the DCF.
Bit 11: Reserved.
Bit 12 = 1: The last Master/Manager cycle time is greater than 256 ms.
Bit 13 = 1: The Master is the only CAN device on the network. It gets no acknowledgment to its transmitted frames. All nodes are marked as absent. The Master keeps its state until the "alone" situation is released.
Bit 14 and Bit 15: Reserved.
Assigned Slaves
The table below shows the words %IWr.m.c.3 to %IWr.m.c.10:
Standard symbol
Type
Access
Description
Address
SLAVE_ASSIGNED_1_16
INT
R
For assigned slaves from 1 to 16
%IWr.m.c.3
SLAVE_ASSIGNED_17_32
INT
R
For assigned slaves from 17 to 32
%IWr.m.c.4
SLAVE_ASSIGNED_33_48
INT
R
For assigned slaves from 33 to 48
%IWr.m.c.5
SLAVE_ASSIGNED_49_63
INT
R
For assigned slaves from 49 to 63
%IWR.m.c.6
If the bit is equal to 0, no slave is assigned to this bit.
If the bit is equal to 1, a slave is assigned to this bit.
The node number corresponds to the number of the bit + 1.
Slaves Configured
The table below shows the words %IWr.m.c.11 to %IWr.m.c.14:
Standard symbol
Type
Access
Description
Address
SLAVE_CONF_1_16
INT
R
For configured slaves from 1 to 16
%IWr.m.c.11
SLAVE_CONF_17_32
INT
R
For configured slaves from 17 to 32
%IWr.m.c.12
SLAVE_CONF_33_48
INT
R
For configured slaves from 33 to 48
%IWr.m.c.13
SLAVE_CONF_49_63
INT
R
For configured slaves from 49 to 63
%IWr.m.c.14
If the bit is equal to 0, the slave is not configured and cannot start.
If the bit is equal to 1, the slave is configured and can be started.
The node number corresponds to the number of the bit + 1.
Slaves with Configuration Faults
The table below shows the words %IWr.m.c.19 to %IWr.m.c.22:
Standard symbol
Type
Access
Description
Address
SLAVE_FLT_1_16
INT
R
Slaves with configuration faults from 1 to 16
%IWr.m.c.19
SLAVE_FLT_17_32
INT
R
Slaves with configuration faults from 17 to 32
%IWr.m.c.20
SLAVE_FLT_33_48
INT
R
Slaves with configuration faults from 33 to 48
%IWr.m.c.21
SLAVE_FLT_49_63
INT
R
Slaves with configuration faults from 49 to 63
%IWr.m.c.22
If the bit is equal to 0, the assigned slave corresponds to the configuration.
If the bit is equal to 1, the assigned slave does not correspond to the configuration.
The node number corresponds to the number of the bit + 1.
Inoperative Slaves
The table below shows the words %IWr.m.c.27 to %IWr.m.c.30:
Standard symbol
Type
Access
Description
Address
SLAVE_EMCY_1_16
INT
R
Slaves from 1 to 16
%IWr.m.c.27
SLAVE_EMCY_17_32
INT
R
Slaves from 17 to 32
%IWr.m.c.28
SLAVE_EMCY_33_48
INT
R
Slaves from 33 to 48
%IWr.m.c.29
SLAVE_EMCY_49_63
INT
R
Slaves from 49 to 63
%IWr.m.c.30
If the bit is equal to 0, the slave is properly operating.
If the bit is equal to 1, the slave is improperly operating.
The node number corresponds to the number of the bit + 1.
Operational Slaves from 1 to 16
The table below presents the word %IWr.m.c.35:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_1
BOOL
R
Slave operational on the bus: device 1
%IWr.m.c.35.0
SLAVE_ACTIV_2
BOOL
R
Slave operational on the bus: device 2
%IWr.m.c.35.1
SLAVE_ACTIV_3
BOOL
R
Slave operational on the bus: device 3
%IWr.m.c.35.2
SLAVE_ACTIV_4
BOOL
R
Slave operational on the bus: device 4
%IWr.m.c.35.3
SLAVE_ACTIV_5
BOOL
R
Slave operational on the bus: device 5
%IWr.m.c.35.4
SLAVE_ACTIV_6
BOOL
R
Slave operational on the bus: device 6
%IWr.m.c.35.5
SLAVE_ACTIV_7
BOOL
R
Slave operational on the bus: device 7
%IWr.m.c.35.6
SLAVE_ACTIV_8
BOOL
R
Slave operational on the bus: device 8
%IWr.m.c.35.7
SLAVE_ACTIV_9
BOOL
R
Slave operational on the bus: device 9
%IWr.m.c.35.8
SLAVE_ACTIV_10
BOOL
R
Slave operational on the bus: device 10
%IWr.m.c.35.9
SLAVE_ACTIV_11
BOOL
R
Slave operational on the bus: device 11
%IWr.m.c.35.10
SLAVE_ACTIV_12
BOOL
R
Slave operational on the bus: device 12
%IWr.m.c.35.11
SLAVE_ACTIV_13
BOOL
R
Slave operational on the bus: device 13
%IWr.m.c.35.12
SLAVE_ACTIV_14
BOOL
R
Slave operational on the bus: device 14
%IWr.m.c.35.13
SLAVE_ACTIV_15
BOOL
R
Slave operational on the bus: device 15
%IWr.m.c.35.14
SLAVE_ACTIV_16
BOOL
R
Slave operational on the bus: device 16
%IWr.m.c.35.15
The node number corresponds to the number of the bit + 1.
Operational Slaves from 17 to 32
The table below presents the word %IWr.m.c.36:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_17
BOOL
R
Slave operational on the bus: device 17
%IWr.m.c.36.0
SLAVE_ACTIV_18
BOOL
R
Slave operational on the bus: device 18
%IWr.m.c.36.1
SLAVE_ACTIV_19
BOOL
R
Slave operational on the bus: device 19
%IWr.m.c.36.2
SLAVE_ACTIV_20
BOOL
R
Slave operational on the bus: device 20
%IWr.m.c.36.3
SLAVE_ACTIV_21
BOOL
R
Slave operational on the bus: device 21
%IWr.m.c.36.4
SLAVE_ACTIV_22
BOOL
R
Slave operational on the bus: device 22
%IWr.m.c.36.5
SLAVE_ACTIV_23
BOOL
R
Slave operational on the bus: device 23
%IWr.m.c.36.6
SLAVE_ACTIV_24
BOOL
R
Slave operational on the bus: device 24
%IWr.m.c.36.7
SLAVE_ACTIV_25
BOOL
R
Slave operational on the bus: device 25
%IWr.m.c.36.8
SLAVE_ACTIV_26
BOOL
R
Slave operational on the bus: device 26
%IWr.m.c.36.9
SLAVE_ACTIV_27
BOOL
R
Slave operational on the bus: device 27
%IWr.m.c.36.10
SLAVE_ACTIV_28
BOOL
R
Slave operational on the bus: device 28
%IWr.m.c.36.11
SLAVE_ACTIV_29
BOOL
R
Slave operational on the bus: device 29
%IWr.m.c.36.12
SLAVE_ACTIV_30
BOOL
R
Slave operational on the bus: device 30
%IWr.m.c.36.13
SLAVE_ACTIV_31
BOOL
R
Slave operational on the bus: device 31
%IWr.m.c.36.14
SLAVE_ACTIV_32
BOOL
R
Slave operational on the bus: device 32
%IWr.m.c.36.15
Operational Slaves from 33 to 48
The table below shows the word %IWr.m.c.37:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_33
BOOL
R
Slave operational on the bus: device 33
%IWr.m.c.37.0
SLAVE_ACTIV_34
BOOL
R
Slave operational on the bus: device 34
%IWr.m.c.37.1
SLAVE_ACTIV_35
BOOL
R
Slave operational on the bus: device 35
%IWr.m.c.37.2
SLAVE_ACTIV_36
BOOL
R
Slave operational on the bus: device 36
%IWr.m.c.37.3
SLAVE_ACTIV_37
BOOL
R
Slave operational on the bus: device 37
%IWr.m.c.37.4
SLAVE_ACTIV_38
BOOL
R
Slave operational on the bus: device 38
%IWr.m.c.37.5
SLAVE_ACTIV_39
BOOL
R
Slave operational on the bus: device 39
%IWr.m.c.37.6
SLAVE_ACTIV_40
BOOL
R
Slave operational on the bus: device 40
%IWr.m.c.37.7
SLAVE_ACTIV_41
BOOL
R
Slave operational on the bus: device 41
%IWr.m.c.37.8
SLAVE_ACTIV_42
BOOL
R
Slave operational on the bus: device 42
%IWr.m.c.37.9
SLAVE_ACTIV_43
BOOL
R
Slave operational on the bus: device 43
%IWr.m.c.37.10
SLAVE_ACTIV_44
BOOL
R
Slave operational on the bus: device 44
%IWr.m.c.37.11
SLAVE_ACTIV_45
BOOL
R
Slave operational on the bus: device 45
%IWr.m.c.37.12
SLAVE_ACTIV_46
BOOL
R
Slave operational on the bus: device 46
%IWr.m.c.37.13
SLAVE_ACTIV_47
BOOL
R
Slave operational on the bus: device 47
%IWr.m.c.37.14
SLAVE_ACTIV_48
BOOL
R
Slave operational on the bus: device 48
%IWr.m.c.37.15
Operational Slaves from 49 to 64
The table below shows the word %IWr.m.c.38:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_49
BOOL
R
Slave operational on the bus: device 49
%IWr.m.c.38.0
SLAVE_ACTIV_50
BOOL
R
Slave operational on the bus: device 50
%IWr.m.c.38.1
SLAVE_ACTIV_51
BOOL
R
Slave operational on the bus: device 51
%IWr.m.c.38.2
SLAVE_ACTIV_52
BOOL
R
Slave operational on the bus: device 52
%IWr.m.c.38.3
SLAVE_ACTIV_53
BOOL
R
Slave operational on the bus: device 53
%IWr.m.c.38.4
SLAVE_ACTIV_54
BOOL
R
Slave operational on the bus: device 54
%IWr.m.c.38.5
SLAVE_ACTIV_55
BOOL
R
Slave operational on the bus: device 55
%IWr.m.c.38.6
SLAVE_ACTIV_56
BOOL
R
Slave operational on the bus: device 56
%IWr.m.c.38.7
SLAVE_ACTIV_57
BOOL
R
Slave operational on the bus: device 57
%IWr.m.c.38.8
SLAVE_ACTIV_58
BOOL
R
Slave operational on the bus: device 58
%IWr.m.c.38.9
SLAVE_ACTIV_59
BOOL
R
Slave operational on the bus: device 59
%IWr.m.c.38.10
SLAVE_ACTIV_60
BOOL
R
Slave operational on the bus: device 60
%IWr.m.c.38.11
SLAVE_ACTIV_61
BOOL
R
Slave operational on the bus: device 61
%IWr.m.c.38.12
SLAVE_ACTIV_62
BOOL
R
Slave operational on the bus: device 62
%IWr.m.c.38.13
SLAVE_ACTIV_63
BOOL
R
Slave operational on the bus: device 63
%IWr.m.c.38.14
Slave in Stop State
The table below shows the words %IWr.m.c.43 to %IWr.m.c.46:
Standard symbol
Type
Access
Description
Address
SLAVE_STOPPED_1_16
INT
R
Stopped slaves from 1 to 16
%IWr.m.c.43
SLAVE_STOPPED_17_32
INT
R
Stopped slaves from 17 to 32
%IWr.m.c.44
SLAVE_STOPPED_33_48
INT
R
Stopped slaves from 33 to 48
%IWr.m.c.45
SLAVE_STOPPED_49_63
INT
R
Stopped slaves from 49 to 63
%IWr.m.c.46
Pre-Operational Slaves
The table below shows the words %IWr.m.c.51 to %IWr.m.c.54:
Standard symbol
Type
Access
Description
Address
SLAVE_PREOP_1_16
INT
R
Pre-operational slaves from 1 to 16.
%IWr.m.c.51
SLAVE_PREOP_17_32
INT
R
Pre-operational slaves from 17 to 32.
%IWr.m.c.52
SLAVE_PREOP_33_48
INT
R
Pre-operational slaves from 33 to 48.
%IWr.m.c.53
SLAVE_PREOP_49_63
INT
R
Pre-operational slaves from 49 to 63.
%IWr.m.c.54
Master Cycle Time
The table below shows the meaning of status words relative to the time cycle of the master:
Addresses
Description
Meaning
%IWr.m.c.59
Minimum master cycle time
Minimum value of the CANopen master cycle time in ms.
%IWr.m.c.60
Current master cycle time
Current value of the CANopen master cycle time in ms.
%IWr.m.c.61
Maximum master cycle time
Maximum value of the CANopen master cycle time in ms.
The following symbols are accessible %IW.r.m.c.59 to %IW.r.m.c.61:
Bus Analysis Information
The table below shows the meaning of status words relative to Bus Analysis Information:
BUS_LOAD_MIN
INT
R
Minimum bus load in %
%IWr.m.c.62
BUS_LOAD_CURRENT
INT
R
Current busload in %
%IWr.m.c.63
BUS_LOAD_MAX
INT
R
Maximum busload in %
%IWr.m.c.64
BUS_QUALITY_NB_RX_FRAMES
DINT
R
Number of received frames
%IDr.m.c.66
BUS_QUALITY_NB_TX_FRAMES
DINT
R
Number of transmitted frames
%IDr.m.c.68
BUS_QUALITY_NB_CURRENT_ERROR_FRAMES
INT
R
Current number of error frames in % for last 10000 exchanged frames
%IWr.m.c.70
BUS_QUALITY_NB_MAX_ERROR_FRAMES
INT
R
Maximum number of error frames in %
%IWr.m.c.71
BUS_QUALITY_NB_MIN_ERROR_FRAMES
INT
R
Minimum number of error frames in %
%IWr.m.c.72
STATUS_NMT
INT
R
Return the status of NMT command
%IWr.m.c.73
STATUS_NMT_CMD
INT
R
Return the current NMT command and node number
%IWr.m.c.74
BUS_QUALITY_RESET_COUNTER
BOOL
W
Reset all the bus analysis informations
%QWr.m.c.0.3
BUS_LOAD_RESET_COUNTER
BOOL
W
Reset all the bus load informations
%QWr.m.c.0.4
CMD_NMT
INT
W
Send NMT commands
%QWr.m.c.1
Reset Emergency Default
The table below shows the meaning of the Reset Emergency Default objects:
Addresses
Description
Standard Symbol
Bit meaning
%QWr.m.c.0
Command word of the CANopen master
INT_ERR_BIT
Bit 0 = 1: Reset emergency slaves bit list. This bit is set to zero after the reset of the bit list.
Bit 1 = 1: Reset bit 8 (overrun) in common status (%IW0.0.2.0). The bit 1 is set to zero after the reset of the bit 8.
Bit 2 = 1: Reset bit 7 (change bit list) of event indicator (%IW0.0.2.2).The bit 2 is set to zero after the reset of the bit 7.
BUS_QUALITY_RESET_COUNTER
Bit 3 = 1: Reset quality information: %ID0.y.2.66 to %IW0.y.2.72. This bit is set to zero after the reset of the words and the measure restarts.
BUS_LOAD_RESET_COUNTER
Bit 4 = 1: Reset bus load information: %IW0.y.2.62 to %IW0.y.2.64. This bit is set to zero after the reset of the words and the measure restarts.
Bit 5 = 1: Reset the CANopen master (useful to restart in Fatal Error without power down/up).The bit is set to zero after the reset of the master.
Bit 6 to bit 15: Reserved
%QWr.m.c.1
NMT command
High byte: NMT command:
  • 81: reset node
  • 82: reset com
  • 80: pre-op
  • 01: start
  • 02: stop
Low byte: node number:
  • 0: all nodes
  • 1..63: node number
NOTE: After the command start, %QWr.m.c.1 is set to zero.
NOTE: %IWr.m.c.73 and %IWr.m.c.74 are used to control the command processing (command state, return code and last NMT command).
%IWr.m.c.73
Return the status of NMT command
High byte: command state:
  • 01: idle: a new command can be started if %QW0.r.m.c.1 is different from zero.
  • 02: waiting: the stack interface is used by another command, and the program is waiting until the command is finished.
  • 03: running: the command is started.
  • 04: ended: the command is finished.
Low byte: return code of the command:
  • 0: command successfully executed
  • 1: bad command
  • 2: bad node number
  • 3: detected error during the command execution
%IWr.m.c.74
Return the current NMT command and node number
Last command executed:
  • High byte: NMT connected
  • Low byte: node number
Explicit Exchanges Objects of the IODDT
This part shows the explicit exchange language objects for the CANopen master.
These objects are exchanged on the application's request, using the instruction READ_STS.
The parameters r, m and c shown in the following tables represent the topological addressing of the module. Each parameter has the following signification:
Execution Indicator: EXCH_STS
The table below shows the meanings of channel exchange control bits from channel EXCH_STS (%MWr.m.c.0):
Symbol
Type
Access
Description
Number
STS_IN_PROGR
BOOL
R
Status parameter read in progress
%MWr.m.c.0.0
Exchange Report: EXCH_RPT
The table below presents the meaning of the run report bits of the channel EXCH_RPT (%MWr.m.c.1):
Symbol
Type
Access
Description
Number
STS_ERR
BOOL
R
Detected error while reading channel status
%MWr.m.c.1.0
Standard Channel Faults: CH_FLT
The following table explains the meaning of the CH_FLT (%MWr.m.c.2) status word bits. Reading is performed by a READ_STS:
Object
Function
Standard Symbol
Type
Access
Meaning
%MWr.m.c.2
Status of the CANopen Master
CAN_FLT
BOOL
R
Bit 0 = 1: The CANopen Master is not in operational state.
FEW_SLAVE_FLT
BOOL
R
Bit 1 = 1: One or more slaves are not in an operational state.
CAN_OFF
BOOL
R
Bit 2: Reserved.
CONF_FLT
BOOL
R
Bit 3 = 1: Configuration detected error.
Bit 4 to bit 7: Reserved.
Bit 8 to Bit 10: CAN ERR led:
  • 000 = off
  • 001 = single flash
  • 010 = double flash
  • 011 = triple flash
  • 111 = on
Bit 11 to Bit 13: CAN RUN led:
  • 001 = single flash
  • 100 = blinking
  • 111 = on
Bit 14 to Bit 15: Reserved.
%MWr.m.c.3
Generic detected error count
Number of received emergency messages with code 10xxH
%MWr.m.c.4
Device hardware detected error count
Number of received emergency messages with code 50xxH
%MWr.m.c.5
Device software detected error count
Number of received emergency messages with code 60xxH
%MWr.m.c.6
Communication detected error count
Number of received emergency messages with code 81xxH
%MWr.m.c.7
Protocol detected error count
Number of received emergency messages with code 82xxH
%MWr.m.c.8
External detected error count
Number of received emergency messages with code 90xxH
%MWr.m.c.9
Device-specific
Number of received emergency messages with code FFxxH