Lenze 931K - Manual (Page 35)

CANopen over EtherCAT (CoE)
Emergency telegram
Differences in the state machine under CANopen and EtherCAT
8
l
35 KHB 13.0005−EN 1.0
8.7 Emergency telegram
Via the EtherCAT CoE emergency frame error messages are exchanged between the
master and the slave. The CoE emergency frames serve to directly transfer the emergency
messages defined under CANopen. The CANopen telegrams, like also in the cases of the
SDO and PDO transmission, are simply tunneled through the CoE emergency frames.
Structure of an EtherCAT emergency frame
Mailbox
Header
CoE
Header
Error code Error register Data Data
(optional)
6 bytes 2 bytes 2 bytes 1 byte 5 bytes 1 ... n bytes
Emergency frame area Description
Mailbox Header Data for mailbox communication ( length, address, and type )
CoE Header Identification of the CoE service
Error code Error code of the CANopen EMERGENCY message
Error register Error register of the CANopen EMERGENCY message
Data Data contents of the CANopen EMERGENCY message
Data (optional) Further optional data
Since the CoE implementation for the 931K servo position controller only
supports the standard CANopen emergency frames, the Data (optional) field is
not supported.
As here also a simple transfer of the emergency messages received and transmitted via CoE
to the CANopen protocol implemented in the 931K servo position controller takes place,
all error messages can be looked up in the CANopen manual for the 931K servo position
controller.