BECKHOFF AX2000 CANopen communication profile - Manual (Page 20)

3.4.4.1 Application of the Emergency Object
The reaction in the event of an error or fault depends on the error class and is therefore variable.
For this reason, the reaction is described with the aid of an error status machine. The error condi-
tions error- free and error occurred are distinguished. The following transitions are defined:
0. After initialization, the error-free status is taken up if no errors are detected.
No error signal is generated in this condition.
1. The AX2xxx detects an internal error and indicates this in the first three bytes
of the emergency telegram (error code in Bytes 0,1 and error register in Byte 2).
Since the AX2xxx can distinguish between different types of error, Byte 3 of the
manufacturer-specific error field is used to indicate the error category.
2. One error has been reset, but not all. The EMCY telegram contains error code 0000
h
and the error register indicates the remaining errors that are present.
The manufacture-specific area is set to zero.
3. A new error has occurred. The AX2xxx remains in the error status and transmits
an EMCY Object with the corresponding error code. The new error code is entered in
Bytes 0 and 1.
4. All errors have been reset. The EMCY telegram contains the error code 0000
h
,
the error register does not indicate any other errors.
The manufacture-specific area is set to zero.
3.4.4.2 Composition of the Emergency Object
The Emergency Object is composed of 8 bytes, divided as follows:
Byte 0 1 2 3 4 5 6 7
Content Emergency error code
( Þ 4.1)
Error register
(Object 1001 h )
Category Reserved
If an Emergency Object is generated, the error condition is then signaled to the status machine
(error free / error occurred) by the generation of a second Emergency Object. Only the first four
bytes are relevant in this case (Emergency Error code , Error register, Category). Byte 0/1 contains
the Error Reset code (0000
h
) and Byte 2 indicates if a possible further error is present. If the error
register contains 00
h
, the error status is error-free.
Byte 3 contains the category. The interpretations of the error numbers (error code) and the error
categories are described in the section Emergency Messages (
Þ 4.1). The error register is defined
through Object 1001
h
Error register.
20 CANopen for AX2000/2500
CANopen communication profile
07/2007
BECKHOFF
error free
error occurred
0
2
1 4
3