Flintec EM100-C User Manual

EM100-F User Manual
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6.4.3. Heartbeat Message
This is sent by an individual node when the heartbeat protocol is activated. It contains only one
byte, indicating the NMT State.
COB-ID
NMT State
700 + Node ID.
0 = Boot-up.
4 = Stopped.
5 = Operational.
127 = Pre-Operational.
Note: bit-7 is reserved.
6.4.4. Emergency Message
This is sent by an individual node to warn of an error condition in the internal functioning of that
node.
Transmit
EM100->Master
COB-ID 80H+Node ID
Error Code
Error
Registered
Manufacturer Specific Error
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
81
10
81
00
00
00
00
00
00
The above shows the error code 8110 which is CAN overrun (i.e. objects are lost).
Emergency Objects:
Abort Code (Hex.)
Description
8110
Monitoring – CAN Over-run (objects lost).
8120
Monitoring – CAN in error passive mode.
8130
Monitoring – Node Guarding or heartbeat error.
8140
Monitoring – Recovering from bus off.
8210
Protocol – PDO not processed due to error length.
8220
Protocol – PDO length exceeded.

Flintec EM100-C Specifications

General

Brand	Flintec
Model	EM100-C
Category	Control Unit
Language	English