PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021 33
7.4.1 Internal Emergency messages of PN/CAN Gateway
The PN/CAN Gateway also sends its own emergency messages if errors occur during CANopen or
PROFINET communication.
0x5010 – 0x5013 NMT status change due to PLC stop
0x5020 – 0x5023 PROFINET connection broken
0x6201 – 0x6203 NMT state change by the PLC
0x7001 An NMT transition was received at the CAN but cannot be performed due to the state of
the PN/CAN Gateway.
0x7002 Sent to NMT-BOOTUP if the PN/CAN Gateway can start but the module configuration is
inappropriate (wrong SDO, wrong permissions).
0x8020 NMT transition to a higher state prevented due to limitation by PLC
0x8021 Profile prohibits transition due to PLC STOP
0x8022 Profile prohibits transition due to PROFINET connection termination
0x8130 Nodeguarding time has been exceeded
0x8210 received RPDO length too short (not processed)
0x8220 Received RPDO length too long (being processed)
0x8211 RTR polling received with length > 0
0x8250 The RPDO event timer was exceeded
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