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== Introduction ==
[[en:Error Handling]]
Additions to CiA 417, part 1:


CANopen devices compliant to this application profile shall support the Emergency service
== 8.4 Additional emergency error code meanings ==
and the Emergency protocol as specified in /CiA301/.


Emergency messages are triggered by internal errors in the device. They are structured as
Devices compliant to this specification may use additional error codes, as specified in Table 4.
specified in /CiA301/. The manufacturer-specific error field (msef) shall be reserved for future
 
use. The structure of the Emergency message is specified in /CiA301/ and shown in Figure 1.
Table 4 - Error codes


{| cellspacing="0" cellpadding="2" border="1"
{| cellspacing="0" cellpadding="2" border="1"
|-
|-
! scope="col" | Byte 7
! scope="col" | Error code
! scope="col" | Byte 6
! scope="col" | Description
! scope="col" | Byte 5
! scope="col" | Reaction
! scope="col" | Byte 4
|-
! scope="col" | Byte 3
| 0010h
! scope="col" | Byte 2
| CAN warning level reached
! scope="col" | Byte 1
| <tbd>
! scope="col" | Byte 0
|-
| 3111h
| Mains over-voltage
| <tbd>
|-
| 3121h
| Mains under-voltage
| <tbd>
|-
| 3211h
| Over-voltage (device internal)
| <tbd>
|-
| 3221h
| Under-voltage (device internal)
| <tbd>
|-
| FF01h
| Light barrier defect
| <tbd>
|-
| FF02h
| Finger protector defect
| <tbd>
|-
| FF03h
| Motion detection defect
| <tbd>
|-
| FF04h
| Application error
| <tbd>
|-
|-
| align = "center" colspan="5" | msef
| FF05h
| er
| Overspeed
| align = "center" colspan="2" | eec
| Car drive unit: fast stop
|-
| FF06h
| Unintended car movement (UCM)
| Car drive unit: fast stop
|}
|}
Figure 1 - Structure of the Emergency message
*eec: Emergency error code
*er: Error register (see object 1001h)
*msef: Manufacturer-specific error code
== Additional error codes ==

Aktuelle Version vom 5. Juli 2012, 16:02 Uhr

Additions to CiA 417, part 1:

8.4 Additional emergency error code meanings

Devices compliant to this specification may use additional error codes, as specified in Table 4.

Table 4 - Error codes

Error code Description Reaction
0010h CAN warning level reached <tbd>
3111h Mains over-voltage <tbd>
3121h Mains under-voltage <tbd>
3211h Over-voltage (device internal) <tbd>
3221h Under-voltage (device internal) <tbd>
FF01h Light barrier defect <tbd>
FF02h Finger protector defect <tbd>
FF03h Motion detection defect <tbd>
FF04h Application error <tbd>
FF05h Overspeed Car drive unit: fast stop
FF06h Unintended car movement (UCM) Car drive unit: fast stop
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