User guide

Notes:
 A “CAN message lost” emergency may indicate an overrun, in which a CAN
message has not been retrieved from the receiver on time. The next message to
the same buffer crashes with the as-yet unread message. Both messages may be
lost in the crash. There may also be more lost messages that go undetected,
because they may have be sent while the message loss indication was on. The
“CAN message lost” message tells where a crash occurred, but it does not tell
how many messages have actually been lost. The emergency message includes
some information about the type of the “lost message” where it can. Data Field 2
in the EMCY objects contains information about the lost message. When the
value is –1, the overrun occurred in the CAN controller hardware buffer. When
the overrun is a software buffer overrun, data field 2 contains the COB-ID of the
last message received and which caused the overrun.
 In case of a failed RPDO, the emergency message with data field 1 and data
field 2 includes the following information.
0 0x00
1
Error code
0x63
2 Error register 0x01
3
Elmo error code, if 0 either
no error or no related error
for this emergency
If > 0, error is according to
the EC command
EC value
4
5
Error code data field 1 Object index
6 Object sub-index
7
Error code data field 2
Interpreter error code, similar values as EC
command.
Note: If the profile is executed by the DSP 402 protocol, byte 3 of the Elmo error
code is set to 0xff. The object index and sub-index are according to the failed
profile:
0x607A: profile position
0x60FF: profile velocity
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-25