SICK DL100 Pro CANopen - Page 86

By default, CAN identifier 080h + node ID is used for the emergency telegram. The
user data of the emergency message consists of the Emergency Error Code EEC, the
contents of Error Register ER (see "Object 1001h – Error Register", page 70) and the
Manufacturer Specific Error Field MSEF.
Table 46: Structure of emergency telegram
COB-ID DLC EEC
L-byte
EEC
H-byte
ER MSEF
L-byte
MSEF MSEF MSEF MSEF
H-byte
D0 D1 D2 D3 D4 D5 D6 D7
080h+
node ID
8h Emergency error code Error Reg‐
ister
Manufacturer Specific Error Field
table 47 contains an overview of the general emergency messages, table 48 an example of the general “tempera‐
ture warning” emergency message.
Table 47: Overview of general EMCY messages
EEC
L-byte
EEC
H-byte
ER MSEF ER and EEC description
Byte 0 Byte 1 Byte 2 Byte
3 ... 7
7 6 5 4 3 2 1 0
00h 00h 0 0 0 0 0 0 0 0 0 ER: –
EEC: Error reset or no error
1)
00h 42h 0 0 0 0 1 0 0 1 0 ER: Temperature warning
EEC: CANopen device tempera‐
ture
80h 42h 0 0 0 0 1 0 0 1 0 ER: Temperature error
EEC: CANopen device-specific
error device temperature
10h 81h 0 0 0 1 0 0 0 0 1 ER: Communication error (over‐
flow, error status)
EEC: Overflow, one or more
telegrams lost
20h 81h 0 0 0 1 0 0 0 0 1 ER: Communication error (over‐
flow, error status)
EEC: Communication error,
CAN in error passive mode
30h 81h 0 0 0 1 0 0 0 1 Byte 3:
Lost
node ID
ER: Communication error (over‐
flow, error status)
EEC: Heartbeat or lifeguard
error
2)
40h 81h 0 0 0 1 0 0 0 0 1 ER: Communication error (over‐
flow, error status)
EEC: Communication error,
restored from “bus off”
10h 82h 0 0 0 1 0 0 0 1 0 ER: Communication error (over‐
flow, error status)
EEC: Protocol error, PDO not
processed due to length error
20h 82h 0 0 0 1 0 0 0 1 0 ER: Communication error (over‐
flow, error status)
EEC: Protocol error, PDO length
exceeded
10 CANOPEN INTERFACE
86
O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice