Emcy Error Codes - Aventics CANopen VS CL03 Série Mode D'emploi

Table 23: Coding of the error states in EMCY messages
Byte
Error reset
Received invalid PDO 0x10
Guarding failure
BUSOFF
Comm. error
Queue overrun
CAN ES SET
CAN ES RESET
Diagnosis
AVENTICS | CANopen | R402003660–BAL–001–AE
The queued diagnoses are shown on the LEDs even if the
diagnostic message is turned off on the master.

13.5 EMCY error codes

The slave transmits an emergency message (EMCY) when there
is an error. The set-up of the EMCY message is consistent with
the definitions of the CANopen communication profile according
to CiA DS-301.
The coding of the individual error states can be taken from the
following table:
0 1 2
EMCY error ErrorReg
codes 1001h
0x00 0x00 0x00
0x82 ErrorReg
0x30 0x81 ErrorReg
0x00 0x81 ErrorReg
0x00 0x81 ErrorReg
0x10 0x81 ErrorReg
0x20 0x81 ErrorReg
0x20 0x81 ErrorReg
0xFF 0xFF ErrorReg
Appendix – bus master configuration
3 4 5
Manufacturer-specific error field
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
0x00 0x00 0x00
Diag. Diag Diag
status DataLen Data0
2020 2020 2020
sub2 sub1 sub3
105
6 7
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00