Emcy Error Codes; Diagnostic Data; Voltage Diagnosis - Aventics AV Systembeschreibung

Table 40: Coding of the EMCY telegram
Byte
Error reset 0x00
Received invalid PDO 0x00
Guarding failure 0x00
BUSOFF 0x00
Comm. Error 0x00
Queue overrun 0x00
CAN ES SET 0x00
CAN ES RESET 0x00
Additional modules
(channel diagnosis
of the modules)
Additional modules 0xFF
(group diagnosis
of modules)
Table 41:

Voltage diagnosis

Byte 7
Set 0x00
Reset 0x00
1)
SD = Voltage diagnosis (see Table 42)
AVENTICS | Bus Coupler AES/Valve Driver AV, CANopen | R412018137–BAL–001–AE

15.4 EMCY error codes

The bus coupler transmits an emergency telegram (EMCY) when there is an error. The structure of
the EMCY telegram is consistent with the definitions of the CANopen communication profile
according to CiA DS-301.
Refer to Table 40 for the coding of the individual error states:
Manufacturer-specific error field
7 6
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
Bit positions of the defective channels in the module
0xFF 0xFF

15.5 Diagnostic data

15.5.1 Voltage diagnosis
The bus coupler monitors the voltage of the electronics and the actuator. In the event of an error,
the bus coupler sends the following message
Byte 6 Byte 5
0x00 0x00
0x00 0x00
If there is a malfunction in the power supply, a corresponding bit in byte 4 is set to 1.
Bits 0 to 3 in byte 4 have the following meaning in the Set message:
Table 42: Voltage diagnosis message in byte 4
Byte 4
Set
5 4 3
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
0x00 0x00
Module
number after
object 0x1027
0xFF Module
number after
object 0x1027
Byte 4 Byte 3
1)
SD 0xBB
0x00 0xBB
Bit 3 Bit 2
1 1
UL < 10 V UL < 18 V
ErrorReg
EMCY error code
1001h
2 1
0x00 0x00 0x00
ErrorReg 0x82 0x10
ErrorReg 0x81 0x30
ErrorReg 0x81 0x00
ErrorReg 0x81 0x00
ErrorReg 0x81 0x10
ErrorReg 0x81 0x20
ErrorReg 0x81 0x20
0x80 0x70 0x00
Additional
module
0x80 0x70 0x00
Additional
module
Byte 2 Byte 1
0x80 0xFF
0x80 0xFF
Bit 1
1
UA < UA-OFF UA < 21.6
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Appendix
0
Byte 0
0xFF
0xFF
Bit 0
1