This keyword allows a variable of type STRU_COERRMSG (STRUCT_P) to be defined.
This variable is used by the co_rerr() instruction for handling CanOpen messages.
It consists of the following information:
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errCode
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U16
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Emergency error code ()
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errReg
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U8
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Error register
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mse[5]
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U8
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Manufacturer specific error field byte 1, 2, 3, 4, 5
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The following are the CiA Draft Standard specifications:
Emergency object data
The emergency telegram consists of 8 bytes with the data as shown below:
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0
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Emergency Error Code (see table below)
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1
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2
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Error register (Object 1001H)
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3
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Manufacturer specific Error Field
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4
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5
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6
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7
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Emergency Error Codes
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00xx
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Error Reset or No Error
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10xx
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Generic Error
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20xx
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Current
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21xx
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Current, device input side
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22xx
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Current, inside the device
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23xx
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Current, device output side
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30xx
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Voltage
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31xx
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Mains Voltage
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32xx
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Voltage inside the device
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33xx
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Output Voltage
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40xx
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Temperature
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41xx
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Ambient Temperature
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42xx
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Device Temperature
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50xx
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Device Hardware
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60xx
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Device Software
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61xx
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Internal Sw
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62xx
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User Sw
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63xx
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Data Set
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70xx
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Additional Modules
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80xx
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Monitoring
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81xx
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Communication
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8110
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CAN Overrun (Objects lost)
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8120
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CAN in Error Passive Mode
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8130
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Life Guard Error or Heartbeat Error
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8140
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Recovered from bus off
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8150
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Transmit COB-ID collision
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82xx
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Protocol Error
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8210
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PDO not processed due to length error
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8220
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PDO length exceeded
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90xx
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External Error
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F0xx
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Additional Functions
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FFxx
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Device specific
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Structure of the Error Register
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0
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M
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Generic Error
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1
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O
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Current
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2
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O
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Voltage
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3
|
O
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Temperature
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4
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O
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Communication Error (overrun, error state)
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5
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O
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Device profile specific
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6
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O
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Reserved (always 0)
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7
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O
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Manufacturer specific
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Example definition:
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STRU_COERRMSG analysisCan
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Example of use:
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STRUCT_P MY_STRUCT
U16 code_emg
U8 reg_error
U8 error_spec[5]
END_STRUCT
I32 returns
can_wks = 1
if (can_err.code_emg = 0x1000)
sr(1) = "GENERIC ERROR"
endif
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