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The emergency message is a high priority message with the following format
| Can header | rtr | len | Byte 0 | Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| 0x080 + node | 0 | 8 | Error Code | Error Register | Vendor specific data | |||||
Do not confuse SYNC and Emergency messages as SYNC has a COB ID of 0x080 where as Emergency has a COB-ID of 0x080+ Node ID.
Standard error codes according to CiA DS-301 and DS-401 Taken from CanOpen Node project on sourceforge
| Error code | Description |
|---|---|
| 0x00xx | error Reset or No Error |
| 0x10xx | Generic Error |
| 0x20xx | Current |
| 0x21xx | Current device input side |
| 0x22xx | Current inside the device |
| 0x23xx | Current device output side |
| 0x30xx | Voltage |
| 0x31xx | Mains Voltage |
| 0x32xx | Voltage inside the device |
| 0x33xx | Output Voltage |
| 0x40xx | Temperature |
| 0x41xx | Ambient Temperature |
| 0x42xx | Device Temperature |
| 0x50xx | Device Hardware |
| 0x60xx | Device Software |
| 0x61xx | Internal Software |
| 0x62xx | User Software |
| 0x63xx | Data Set |
| 0x70xx | Additional Modules |
| 0x80xx | Monitoring |
| 0x81xx | Communication |
| 0x8110 | CAN Overrun (Objects lost) |
| 0x8120 | CAN in Error Passive Mode |
| 0x8130 | Life Guard Error or Heartbeat Error |
| 0x8140 | recovered from bus off |
| 0x8150 | CAN-ID collision |
| 0x82xx | Protocol Error |
| 0x8210 | PDO not processed due to length error |
| 0x8220 | PDO length exceeded |
| 0x8230 | DAM MPDO not processed destination object not available |
| 0x8240 | Unexpected SYNC data length |
| 0x8250 | RPDO timeout |
| 0x90xx | External Error |
| 0xF0xx | Additional Functions |
| 0xFFxx | Device specific |
Standard error register values
| Bits | Description |
|---|---|
| bit 0 | generic error |
| bit 1 | current |
| bit 2 | voltage |
| bit 3 | temperature |
| bit 4 | communication error (overrun error state) |
| bit 5 | device profile specific |
| bit 6 | reserved (always 0) |
| bit 7 | manufacturer specific |
The error reporting is also stored with in following Object Dictionary entries
| Entry | Array | Meaning | Size (bits) |
| 0x1003 | Yes | Error code (8 Values stored) | 32 |
| 0x1001 | No | Error register | 8 |
The Entry at 0x1003 is in the following format and provides an error history for the device:-
| Bits | Description |
|---|---|
| 31-24 | Manufacturer-specific error code |
| 23-16 | Error register |
| 15-0 | Error code |