224 AVENTICS | CANopen, CANopen sb | R412009415–BDL–001–AE
Appendice
Tabella 25:
Codifica degli stati di errore nel telegramma EMCY
Byte
0
EMCY Error
Code
Error Reset
0x00
Received
0x10
invalid PDO
Guarding
0x30
Failure
BUSOFF
0x00
Comm. Error
0x00
Queue
0x10
Overrung
CAN ES SET
0x20
CAN ES
0x20
RESET
Diagnosi
0xFF
EMCY Error Code
ErrorReg
La codifica dei singoli stati di errore è riportata nella
tabella seguente:
1
2
ErrorReg
1001h
0x00
0x00
0x82
ErrorReg
0x81
ErrorReg
0x81
ErrorReg
0x81
ErrorReg
0x81
ErrorReg
0x81
ErrorReg
0x81
ErrorReg
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 Passive Mode
FFFF: Device-specific
10: Communication error (overrun, error state)
80: Manufacturer-specific
3
4
Manufacturer specific Error Field
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Diag
Diag
Status
DataLen
2020
2020
sub2
sub1
5
6
7
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
0x00
0x00
Data0
2020
sub3