Error Causes and Remedies
Printed in the Federal Republic of Germany © TR-Electronic GmbH 2008, All Rights Reserved
11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 117 of 119
11.4 Emergency Request Protocol
Emergency messages are triggered if an internal fault occurs. The transmission is
executed via the mailbox interface.
The Emergency Service is used by the server to transmit diagnostic messages to the
client. Each diagnostic event transmitted by the server to the client is also reconfirmed
by transmission of the reset error code when the diagnostic event is no longer
present.
Emergency Request, Server --> Client
Frame Fragment Data field Data type Value / Description
Length WORD n ≥ 0x0A: Length of the mailbox service data
Address WORD
Source station address, if Master = Client
Destination station address, if Slave = Client
Channel unsigned:6 0x00, reserved
Priority unsigned:2
0x00: Lowest priority
…
0x03: Highest priority
Type unsigned:4 0x03: CANopen over EtherCAT (CoE)
Mailbox Header
reserved unsigned:4 0x00
Quantity unsigned:9 0x00
reserved unsigned:3 0x00
CANopen Header
Service unsigned:4
0x01: Emergency
Error code WORD Error Code
Error register BYTE Error Register
Data BYTE[5]
Error Code 0000-9FFF: Manufacturer-specific error field
Error Code A000-EFFF: Diagnostic data
Error Code F000-FFFF: Manufacturer-specific error field
Emergency
reserved BYTE[n-10] not yet specified
Table 9: Emergency Request
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