Manual

C-4 CANopen Objects

20-COMM-K CANopen Adapter User Manual

Publication 20COMM-UM012B-EN-P

Emergency Object

The emergency object consists of a total of 8 data bytes. The first three

bytes are defined by the CANopen specification, and the remaining 5 bytes

are manufacturer specific.

Table C.C Emergency Object Format

Table C.D Implemented Emergency Error Codes

Emergency error codes are specified for a number of events, but since the

DPI communication adapter is a generic module, all errors are reported as

“Generic error.” For faults in the communication adapter itself, the DPI fault

code is supplied as manufacturer-specific data.

Byte01234567

Content Emergency error

code (See Table C. D

)

Error

Manufacturer specific error files;

Byte 3 and Byte 4 = 0, Byte 5 = DPI Port,

Byte 6 and 7 = DPI fault code (Byte 6 = LSB)

Emergency

Error Code

Meaning Manufacturer specific info

00XX Error reset or no error No

10XX Generic Error Yes (If fault in DPI adapter, DPI fault code is included.)