BECKHOFF AX2000 CANopen communication profile - Manual (Page 27)

4 CANopen Drive Profile
4.1 Emergency Messages
Emergency messages are triggered by internal equipment errors. They have a high ID-priority, to
ensure quick access to the bus. An Emergency message contains an error field with pre-defined
error/fault numbers (2 bytes), an error register (1byte), the error category (1 byte) and additional
information (
Þ chapter 3). The higher-value byte of the error number describes the error category,
and the lower-value byte provides the error number in this category.
Error numbers from xx00
h
to xx7F
h
are defined in the communication or drive profile. Error numbers
from xx80
h
to xxFF
h
have manufacturer-specific definitions. The error category can be used to clas-
sify the significance of any errors that occur. The following error categories are defined:
1: Errors that can only be cleared by a reset (COLDSTART command, or Bit 7 in the
control word
Þ 4.4.2.1). These errors are also indicated by blinking of the LED display
in the front panel. (Fxx, xx = error number)
2: Errors that can be cleared by Bit 11 in the control word ( Þ 4.4.2.1).
3: Error messages that may appear when a PDO is processed.
4: Faults, that cannot be cleared by the user.
5: Operating errors/warnings.
CANopen for AX2000/2500 27
BECKHOFF
07/2007
CANopen Drive Profile