CANOM_EMCY_TYPE¶
The data type CANOM_EMCY_TYPE corresponds to the format of the emergency telegram described in the CANOPEN communication profile and is defined as follows:
TYPE CANOM_EMCY_TYPE:
STRUCT
ERROR_CODE: WORD;
ERROR_REG: BYTE;
ERROR_DATA: ARRAY[1...5] OF BYTE;
END_STRUCT
END_TYPE
ERROR_CODE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
For the emergency object the emergency error codes described in the following table are defined in the CANOPEN communication profile.
| Emergency error code | Meaning / error cause | |
|---|---|---|
| decimal | hexadecimal | |
| 00000…00255 | 0000…00FF | Error on reset or no error |
| 04096…04351 | 1000…10FF | General error |
| 08192…08447 | 2000…20FF | Current error |
| 08448…08703 | 2100…21FF | - error on the device input side |
| 08704…08959 | 2200…22FF | - error inside the device |
| 08960…09215 | 2300…23FF | - error on the device output side |
| 12288…12543 | 3000…30FF | Voltage error |
| 12544…12799 | 3100…31FF | - supply voltage error |
| 12800…13055 | 3200…32FF | - error inside the device |
| 13056…13311 | 3300…33FF | - error on the device output side |
| 16384…16639 | 4000…40FF | Temperature error |
| 16640…16895 | 4100…41FF | - ambient temperature |
| 16896…17151 | 4200…42FF | - temperature inside the device |
| 20480…20735 | 5000…50FF | Hardware error in the device |
| 24576…24831 | 6000…60FF | Software error in the device |
| 24832…25087 | 6100…61FF | - device-internal software |
| 25088…25343 | 6200…62FF | - application software |
| 25344…25599 | 6300…63FF | Data |
| 28672…28927 | 7000…70FF | Error in additional modules |
| 32768…33023 | 8000…80FF | - monitoring |
| 33024…33279 | 8100…81FF | - communication |
| 36864…37119 | 9000…90FF | External error |
| 61440…61695 | F000…F0FF | Error of additional functions |
| 65280…65535 | FF00…FFFF | Device-specific errors |
ERROR_REG
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
The variable ERROR_REG displays the error register value (object 1001 hex) of the slave. This value is transmitted by the slave as a part of the emergency message.
ERROR_DATA
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| ARRAY OF BYTE | - | 1 … 5 | - |
If applicable, ERROR_DATA is used to output manufacturer-specific error information transmitted by the slave as part of the emergency message. For detailed information about the meaning of these data please refer to the particular device documentation.