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Error Causes and Remedies
12.4 Emergency Request Protocol
Emergency messages are triggered if an internal fault occurs. The transmission is
executed via the mailbox interface.
The Emergency Service is used by the server to transmit diagnostic messages to the
client. Each diagnostic event transmitted by the server to the client is also reconfirmed
by transmission of the reset error code when the diagnostic event is no longer present.
Emergency Request, Server --> Client
Frame Fragment
Data field
Data type
Value / Description
Length
WORD
n ≥ 0x0A: Length of the mailbox service data
Address
WORD
Source station address, if Master = Client
Destination station address, if Slave = Client
Channel
unsigned:6
0x00, reserved
Priority
unsigned:2
0x00: Lowest priority
…
0x03: Highest priority
Type
unsigned:4
0x03: CANopen over EtherCAT (CoE)
reserved
unsigned:4
0x00
Quantity
unsigned:9
0x00
reserved
unsigned:3
0x00
Service
unsigned:4
0x01: Emergency
Error code
WORD
Error Code
Error register
BYTE
Error Register
Data
BYTE[5]
Error Code 0000-9FFF: Manufacturer-specific error field
Error Code A000-EFFF: Diagnostic data
Error Code F000-FFFF: Manufacturer-specific error field
reserved
BYTE[n-10]
not yet specified
Mailbox Header
CANopen Header
Emergency
Table 9: Emergency Request
 TR-Electronic GmbH 2011, All Rights Reserved
Page 174 of 176
Printed in the Federal Republic of Germany
TR - ECE - BA - DGB - 0094 - 08
09/29/2014