Fault EMCY
Emergency
ErrorCode
Error Reg‐
ister
Manufacturer spe‐
cific Error Field
Component no. Error
type
Error
class
- -
Stroke length adjusted 0xFF01 0x81 0x01 0x27 0x02 0x00 0x00
System error 0xFF01 0x81 0x01 0x2A 0x02 0x00 0x00
Module communication 0x8101 0x11 0x01 0x2C 0x02 0x00 0x00
Module missing 0x8101 0x11 0x01 0x2D 0x02 0x00 0x00
Tab. 18: Emergency ErrorCodes from stack
Emergency
ErrorCode
#define ERRCODE_COMM_ERROR 0x8100 communication error
#define ERRCODE_CAN_OVERRUN 0x8110 CAN overrun
#define ERRCODE_CAN_PASSIVE 0x8120 CAN in error passive
#define ERRCODE_HB_ERROR 0x8130 HB or life guard
#define ERRCODE_CAN_RECOVER_BOFF 0x8140 CAN recoverd from bus-off
#define ERRCODE_BAD_PDOPARA 0x8210 PDO not processed due the length
#define ERRCODE_BAD_PDOLEN 0x8220 PDO length exceeded
2.7.3 Object explanations
The "DeviceState" object contains actual operating conditions and
the pump's existing errors. 'DeviceState' can only be read.
Tab. 19: DeviceState BitValues
Bit positions Meaning
15 (MSB) Manual / bus operation
14 Pause
13 -
12 Auxiliary
11 Operating mode: 1. continuous
10 Operating mode: 2. batch ope‐
ration
9 Operating mode: 3. external
contact
8 Operating mode: 4. analogue
input
7 Stop
DeviceState [Index 0x2A10, Subindex
0x00]
Supplementary Operating Instructions CANopen
36