S300-S700 CANopen | 4 īīCANopen Communciation Profile
4.4.4.1 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 con-
ditions errorfree 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 S300/S700 detects an internal error and indicates this in the first three bytes of the emer-
gency telegram (error code in Bytes 0,1 and error register in Byte 2). Since the S300/S700
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 0000h 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 S300/S700 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 0000h, the error
register does not indicate any other errors.
The manufacture-specific area is set to zero.
4.4.4.2 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
(ā # 27)
Error register
(object 1001h)
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 (0000h) and Byte 2 indicates if a possible further error is present. If the error
register contains 00h, 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 (ā # 27). The error register is
defined through object 1001h Error register.
20 Kollmorgen | kdn.kollmorgen.com | December 2019
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