CANOpen (CiA 418 and 419) Emergency error codes(EMCY)

[AlbinJoshy]

Hello Team,

I am trying to integrate the CANOpen protocol Emergency error codes (EMCY) based on CiA 301, 418(battery module) and 419(battery charger) standards in the STM32L496VG controller. I could see the standard error codes in CiA 301, but I would like to know how to include custom error codes within the standard error codes mentioned below.

Error codes	Description
0000h	Error reset or no error
1000h	Generic error
2000h	Current – generic error
2100h	Current, CANopen device input side – generic
2200h	Current inside the CANopen device – generic
2300h	Current, CANopen device output side – generic
3000h	Voltage – generic error
3100h	Mains voltage – generic
3200h	Voltage inside the CANopen device – generic
3300h	Output voltage – generic
4000h	Temperature – generic error
4100h	Ambient temperature – generic
4200h	Device temperature – generic
5000h	CANopen device hardware – generic error
6000h	CANopen device software – generic error
6100h	Internal software – generic
6200h	User software – generic
6300h	Data set – generic
7000h	Additional modules – generic error
8000h	Monitoring – generic error
8100h	Communication – generic
8110h	CAN overrun (objects lost)
8120h	CAN in error passive mode
8130h	Life guard error or heartbeat error
8140h	Recovered from bus off
8150h	CAN-ID collision
8200h	Protocol error - generic
8210h	PDO not processed due to length error
8220h	PDO length exceeded
8230h	DAM MPDO not processed, destination object not available
8240h	Unexpected SYNC data length
8250h	RPDO timeout
9000h	External error – generic error
F000h	Additional functions – generic error
FF00h	Device specific – generic error

Thank you.

[mƎALLEm · Accepted solution]

An answer from Google to the question: "implement a custom error code in CANopen":

To implement a custom error code in CANopen, you need to leverage the Emergency message functionality and define your specific error codes within the manufacturer-specific error field (MEF) of the Emergency message. Here's a breakdown of how to do it: 

1. Understanding CANopen Emergency Messages:

• Purpose:

  CANopen Emergency messages are used to signal error conditions to other nodes in the network. 
• Structure:

  The Emergency message format includes:

  • Error Code (EEC): The first two bytes of the message contain standard CANopen error codes, indicating the general type of error. 
  • Error Register: The third byte represents the specific error register (e.g., 0x1011). 
  • Manufacturer-Specific Error Field (MEF): The remaining bytes (4-7) are reserved for manufacturer-specific error information. This is where you define your custom error codes. 

2. Defining Custom Error Codes:

• MEF Mapping:

  Within the MEF (bytes 4-7 of the Emergency message), you'll define your custom error code(s). This allows you to differentiate between various error conditions specific to your device.
• Documentation:

  Create clear documentation that maps your custom error codes to the corresponding error conditions in your device. This is crucial for debugging and understanding error reports. 

3. Implementing the Error Reporting:

• Error Condition Detection:

  Within your application, you'll need to detect the specific error conditions you want to report.
• CANopen Node Stack Function:

  You'll use a CANopen stack's function (e.g., CO_errorReport() in CANopenNode) to report the error.
• Emergency Message Generation:

  The CANopen stack will handle the creation of the Emergency message, including filling in the standard error code, error register, and your custom error code in the MEF. 

4. Example Scenario:

Let's say you're building a CANopen device that controls a motor, and you want to report a "Motor Overcurrent" error. 

• Error Code (EEC):

  You might use the standard error code 0x5000 (Device Hardware, according to CANopenNode) to indicate a hardware-related error. 
• Error Register:

  You might set the error register to 0x1011 (Device Hardware Error Register). 
• MEF (Custom Error Code):

  You could define 0x1000 as your custom error code for "Motor Overcurrent" within the MEF. 
• Emergency Message:

  The complete Emergency message would then be: 0x50 00 11 10 01 00 00 00 (where 0x5000 is the standard error code, 0x1011 is the error register, and 0x1000 is your custom error code). 

5. Interpreting the Emergency Message:

• Error Code Interpretation: When a CANopen node receives this Emergency message, it will interpret the standard error code 0x5000 and the error register 0x1011, then it will look for the custom error code 0x1000 in the MEF to identify the specific "Motor Overcurrent" error. 

In Summary:

Implementing custom error codes in CANopen involves defining specific error codes within the MEF of Emergency messages, associating them with your device's error conditions, and using CANopen stack functions to report these errors. This allows for a more granular and informative error reporting system.