Error Handling
Introduction
CANopen devices compliant to this application profile shall support the Emergency service and the Emergency protocol as specified in /CiA301/.
Emergency messages are triggered by internal errors in the device. They are structured as 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.
| Byte 7 | Byte 6 | Byte 5 | Byte 4 | Byte 3 | Byte 2 | Byte 1 | Byte 0 |
|---|---|---|---|---|---|---|---|
| msef | er | eec | |||||
Figure 1 - Structure of the Emergency message
- eec: Emergency error code
- er: Error register (see object 1001h)
- msef: Manufacturer-specific error code