Appendix; 12�1 Emcy Object; 12�2 Object Directory Cr205X - IFM Electronic CR2051 Handbuch

ioControl

12 Appendix

12.1 EMCY Object
The following error codes according to DSP-401 or DSP-301 are supported:
EMCY code Error reg
0x6100 0x11
0x6101 0x11
0x8100 0x11
0x8200 0x11
CANopen does not provide for two identical EMCY objects to be sent
consecutively�
12.2 Object directory CR205x
Obligatory objects (index 0x1000...0x1FFF):
Index S-idx Designation
0x1001 Device type
0x1001 Error register
40
Additional code Description
0x00 Internal Software
Overflow of an Rx queue e�g� frequency of the Rx
PDOs is too high�
Reset only externally via entry in the index 0x1003
SubIdx 00�
0x00 Internal Software
Overflow of a Tx queue e�g� device does not
communicate with the bus�
Reset only externally via entry in the index 0x1003
SubIdx 00�
0x00 Monitoring (Guarding Error)
No guard object is received for „guard time" x „life time
factor"�
Reset with the next communication�
0x00 Monitoring (Synch Error)
For "communication cycle" no synch object is received
Only in OPEATIONAL�
Reset with the next synch OBJ or PREOP�
Data type Default
ro UDINT 0x000F0191
ro USINT 0
Details
Device type
Error register bitcoded to profile
301
Permissible values:
0b0000 0000 = no error
0b0000 0001 = generic error
0b0001 0000 = communication
error
0b1000 0000 = manufacturer
specific