Aventics CANopen Mode D'emploi page 75

Tabelle 40: Codierung der Fehlerzustände im EMCY-Telegramm
Byte
Error Reset
received invalid PDO
Guarding Failure
BUSOFF
Comm. Error
Queue Overrun
CAN ES SET
CAN ES RESET
Diagnose
EMCY-Error-Code
ErrorReg
AVENTICS | CANopen | R412005742–BDL–001–AD
0 1
EMCY Error Code ErrorReg
1001h
0x00 0x00
0x10 0x82 ErrorReg
0x30 0x81 ErrorReg
0x00 0x81 ErrorReg
0x00 0x81 ErrorReg
0x10 0x81 ErrorReg
0x20 0x81 ErrorReg
0x20 0x81 ErrorReg
0xFF 0xFF ErrorReg
00xx: Error Reset or No Error
8210: PDO not processed due to length error
8130: Life Guard Error
8100: Communication
8110: CAN Overrun (objects lost)
8120: CAN in Error Passiv Mode
FFFF: Device specific
10: communication error (overrun, error state)
80: manufacturer specific
2 3
Manufacturer specific Error Field
0x00 0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
Diag Diag
Status DataLen
2020 2020
sub1 sub0
4 5 6
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
Diag 0x00
Data0
2020
sub2
75
Anhang
7
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00