VIPA System 300V - IM 353 CAN - Canopen Slave - Emergency Object

Manual VIPA System 300V Chapter 4 CANopen
HB130E - IM - Rev. 08/26 4-63
IM 353CAN - CANopen slave - Emergency Object
The VIPA CAN-Bus coupler is provided with the emergency object to notify
other devices connected to the CANopen bus about internal error events or
CAN-Bus errors. It has a high priority and gives you important information
about the states of device and network.
Note!
We strongly recommend to analyze the emergence object - it is an
important information pool!
The emergency telegram has always a length of 8Byte. It starts with 2Byte
error code followed by the 1Byte error register and closes with 5Byte
additional code.
Error code
low byte
Error code
high byte
ErrorRegister Index 0x1001 Info 0 Info 1 Info 2 Info 3 Info 4
Error Code Meaning Info 0 Info 1 Info 2 Info 3 Info4
0x0000 Reset Emergency
0x1000 PDO Control 0xFF 0x10 PDO Number LowByte
Timer
Value
HighByte
Timer
Value
0x8100 Heartbeat Consumer Node ID LowByte
Timer Value
HighByte
Timer Value
0x00 0x00
0x8100 SDO Block Transfer 0xF1 LowByte
Index
HighByte
Index
SubIndex 0x00
0x8130 Node Guarding Error LowByte
GuardTime
HighByte
GuardTime
LifeTime 0x00 0x00
0x8210 PDO not processed
due to length error
PDO
Number
Wrong length PDO length 0x00 0x00
0x8220 PDO length exceeded PDO
Number
Wrong length PDO length 0x00 0x00
Outline
Telegram
structure
Error messages