Mitsubishi Electric MELSEC iQ-R Series User Manual page 54

Error code
8000H
8100H
8110H
8120H
8130H
8140H
8150H
8200H
8210H
8220H
8230H
8240H
8250H
8F01H to 8F7FH
9000H
F000H
FF00H
Other than the above, various emergency error codes are defined in various CiA devices and application
profiles and by each device manufacturer. For emergency error codes not listed above, refer to the manual of
the CANopen node that sent the EMCY message.
■Manufacturer-specific error code
The following table lists the three emergency error codes that have manufacturer-specific error codes.
Emergency error code
FF00H
6200H
When sending a message automatically
An EMCY message is sent automatically when an communication error or CPU module error occurs in the own node.
One EMCY message is sent for each error. No further EMCY message is sent until the next error occurs.
• When an error occurs in the own node, the bit corresponding to the emergency error code in Error register
(index 1001H) is turned on.
• When an error occurs in the own node, the emergency error code is stored in Pre-defined error field (index
1003H). A maximum of 15 latest emergency error codes are stored in Pre-defined error field (index 1003H).
• Automatic transmission of EMCY messages cannot be disabled.
• When the CPU module is switched from STOP state to RUN state, the emergency error code (FF00H:
"ME002": CPU module STOP transition) in the Pre-defined error field (index 1003H) is cleared.
• When all emergency error codes in the Pre-defined error field (index 1003H) are cleared, the value in the
Error register (index 1001H) is cleared, and an EMCY message with the emergency error code (0000H:
Error reset or no error) is sent.
1 FUNCTIONS
52
1.7 EMCY
Description
Monitoring
Communications
CAN overrun (object lost)
CAN error passive mode
Lifeguard error or heartbeat error
Recovery from the bus off state
CAN-ID conflict
Protocol error
PDO not processed due to a length error
PDO over length
DAM MPDO not processed, destination object not available
Unexpected SYNC data length
RPDO timeout
Lifeguard error or heartbeat error for node ID 1 to 127
External error
Added function
Device specific
Manufacturer-specific error
code
4D45303032H
4D45303034H
Description
"ME002": CPU module STOP transition
"ME004": Module restart by 'Module restart request' (Y2)
Transmission in
the RJ71CN91
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