Burkert Type 8717 - Manual (Page 39)

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CANopen Start-up
6.2. Canopen emergency
The emergency functions that are implemented comply with the "CiA draft standards 301".
6.2.1. emergency machine
A device may be in one of two emergency states (see “Fig. 1: Emergency states”). Emergency objects are sent
depending on transitions. Connections between the emergency status machine and the NMT status machine are
defined in the device profiles.
Error-free
Error occurred
0
1
2
4
3
Fig. 1: Emergency states
0 If no error is determined, the device goes into an error-free status after initialization. No error message is
sent.
1 The device determines there is an internal error, which is displayed in the first three bytes of the emer-
gency message (error code and error register). The device goes into error status. An emergency object
is sent with the corresponding error code and error register. The error code is entered in object 1003H
(pre-defined error field).
2 One, but not all errors have disappeared. An emergency message containing error code 0000
(error reset), can be sent with the remaining errors in the error register and in the manufacturer-specific
error field.
3 A new error has occurred in the device. The device remains in the error status and sends an emergency
object with the corresponding error code. The new error code is entered at the upper end of the array of
error codes (1003H). It must be guaranteed that error codes are sorted by time (oldest error - highest
subindex; see “Object 1003h: Pre-defined error field”).
4 All errors have been eliminated. The device goes into error-free status and sends an emergency object
with the error code "Reset error / no error".
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MFC Family