Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 72)

C-4 CANopen Objects
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Emergency Object The emergency object consists of a total of 8 data bytes. The first three
bytes are defined by the CANopen specification, and the remaining 5 bytes
are manufacturer specific.
Table C.C Emergency Object Format
Table C.D Implemented Emergency Error Codes
Emergency error codes are specified for a number of events, but since the
DPI communication adapter is a generic module, all errors are reported as
“Generic error.” For faults in the communication adapter itself, the DPI fault
code is supplied as manufacturer-specific data.
Byte 0 1 2 3 4 5 6 7
Content Emergency error
code (See Table C.D )
Error
register Manufacturer specific error files;
Byte 3 and Byte 4 = 0, Byte 5 = DPI Port,
Byte 6 and 7 = DPI fault code (Byte 6 = LSB)
Emergency
Error Code Meaning Manufacturer specific info
00XX Error reset or no error No
10XX Generic Error Yes (If fault in DPI adapter, DPI fault code is included.)