SICK DL100 Pro CANopen - Page 87

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
XXh
3)
FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: CANopen device-specific
1)
The “Error reset or no error” emergency message is only sent when all warnings/errors have been eliminated.
2)
The heartbeat event is reset by: A new Heartbeat Producer has been received. Object 1016h was rewritten.
3)
XXh see table 49, page 87, EEC L-byte (byte 0)
Table 48: Example of general EMCY message “Temperature warning” from node ID 6
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
086h 8h 00h 42h 09h 00h 00h 00h 00h 00h
In addition to the general emergency messages listed in table 47, the device supports manufacturer-specific
emergency messages. These use Emergency Error Code FFxxh. The EEC low byte xxh represents the warnings
and errors shown in table 49. table 50 shows an example with the manufacturer-specific “Level error” emergency
message.
Overview of manufacturer-specific EMCY messages
Table 49: Overview of the manufacturer-specific 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
01h FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: Laser warning (W1)
02h FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: Level warning (W2)
03h FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: Plausibility warning (W3)
81h FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: Laser error (F1)
82h FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: Level error (F2)
83h FFh 1 0 0 0 0 0 0 1 0 ER: Manufacturer specific
EEC: Plausibility error (F3)
Table 50: Example of manufacturer-specific “Level error” EMCY message from node ID 6
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
086h 8h 82h FFh 81h 00h 00h 00h 00h 00h
Sending behavior of the EMCY message
The EMCY message is sent only once, even if the warning and/or error persists for a
long period of time. As long as no new warning and no new error occur, no further EMCY
message will be sent.
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
87
Subject to change without notice