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ifm Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01
Annex Error tables
>
EMCY codes: I/Os, system
8412
EMCY code
object 0x1003
Object
0x1001
Manufactor specific information
Byte 0
[hex]
Byte 1
[hex]
Byte 2
[hex]
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description
00 21 03 I0 LSB I0 MSB Inputs interruption
08 21 03 I0 LSB I0 MSB Inputs short circuit
10 21 03 I0 LSB I0 MSB Excess current 4…20 mA
00 23 03 Q0 LSB Q0 MSB Outputs interruption
08 23 03 Q0 LSB Q0 MSB Outputs short circuit
00 31 05 Power supply VBBS
00 33 05 Terminal voltage VBBO
08 33 05 Output voltage VBBR
00 42 09 Excess temperature
In the CANopen stack none of these EMCY codes are fix implemented. Advice:
► Make these EMCY codes with CANOPEN_SENDEMCYMESSAGE.
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