Canopen Error Codes; Emergency Object Protocol (Emcy); Nmt Protocols; Error Control Protocols - Bosch Rexroth ID 40 Manual

106/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy

9.10 CANopen error codes

In error situations, the SLK signals the cause of the error, if possible.
The SLK responds to command-oriented data access to an invalid MDT address with
an abort code in the SDO telegram. Abort codes are described in the Chapter "Abort
SDO transfer protocol" in [C17].
If errors occur during RPDO access or when executing a parameterized data
exchange, the SLK enters emergency error codes in the "pre-defined error field
(object 1003)" described in Chapter 9.17.4.
Table 46: Error codes for ID 40-specific errors
Abort code Emergency
error code
0x08000022 0x6300
0x08000021 -
Example: Emergency error code 0x6300 "device software data set" is set for an
unexpected break in MDT communication while executing a prefetch.

9.11 Emergency object protocol (EMCy)

The SLK sends EMCYs (producer) when an emergency error code is entered in the
internal error list (pre-defined error field, index 1003), see Chapter "CANopen error
codes". The error codes and EMCY are described in the Chapter "Emergency object"
in [C17].
The SLK ignores EMCY objects send by the bus master, i.e., they are not entered in
the pre-defined error field and do not trigger any additional EMCY.
The COB ID is set by the factory as the default identifier. These default settings
correspond to [C17] specifications and can be changed by the bus master (by
accessing the appropriate objects), if necessary.

9.12 NMT protocols

The SLK supports all NMT protocols set in [C17]. Both COB ID and data content are
set and can therefore not be altered by the bus master.

9.13 Error control protocols

The SLK supports both possible error control protocols. As described in [C17], only
one of the two protocols can be active at a time.

9.14 Node guarding protocol

For device monitoring, the SLK also supports the node guarding protocol for
connecting to older bus masters. If possible, the more modern heartbeat protocol is
preferable to the node guarding protocol.
Error
Unexpected break in communication between SLK and
MDT
MDT device error, e.g., memory area defective
- Reserved -