Emergency (EMCY) codes from the Sevcon Gen4 drives Can messages looks like this: ID b0 b1 b2 b3 b4 b5 b6 b7 "81";"00 31 04 C3 4D 00 00 00" "81";"00 31 14 C3 4D 00 00 00" "81";"00 82 10 0F 53 02 00 00" "82";"00 10 01 54 4F 00 40 00" "82";"00 10 11 54 4F 00 40 00" "82";"00 31 04 C2 51 00 00 00" "82";"00 31 04 C2 51 00 04 00" "82";"00 31 04 C3 4D 00 00 00" "82";"00 31 05 C3 4D 00 00 00" "82";"00 31 15 C3 4D 00 00 00" "82";"30 81 10 0B 53 01 00 00" Bytes b1+b0 (switch bytes) describes CanOpen error code according to DS-301 Error code (hex) Error description 00xx Error Reset / No Error 10xx Generic Error 2xxx Current 3xxx Voltage 4xxx Temperature 50xx Device Hardware 6xxx Device Software 70xx Additional Modules 8xxx Monitoring 90xx External Error F0xx Additional Functions FFxx Device Specific Byte b2 is error register, bit-wise coding, also according to DS-301: Bit Error cause 0 Generic Error 1 Current 2 Voltage 3 Temperature 4 Communication Error 5 Device Profile Specific 6 Reserved (always 0) 7 Manufacturer Specific Bytes b5-b7: If any of bytes b5-b7 are not 0x00 means error is set. * If bytes b5-b7 are all 00 it means the error is reset. * *) might be only b6? Bytes b4+b3 (switched bytes) describes Sevcon specific errors according to table below: 0x2401 Login 0x3441 Host SW Upgrade 0x3442 DSP SW Upgrade 0x34C1 Watchdog Reset 0x45C1 BDI Warning 0x45C2 BDI Cutout 0x45c3 Low battery 0x45C3 Low battery 0x45C4 High battery 0x45c5 High capacitor 0x45C5 High capacitor 0x45c6 Vbat below rated min 0x45C6 Vbat below rated min 0x45C7 Vbat above rated max 0x45c8 Vcap above rated max 0x45C8 Vcap above rated max 0x45c9 Motor low voltage 0x45ca Motor high voltage 0x4601 Device too cold 0x4602 Device too hot 0x4603 Motor in thermal c/b 0x4603 Motor in thermal c/b 0x4681 Preop 0x4781 Anon EMCY 0x47C1 Service Required 0x4881 Seat 0x4882 Two Dir Fault 0x4883 SRO Fault 0x4884 Sequence Fault 0x4884 Sequence Fault 0x4885 FS1 Recycle Fault 0x4941 Low oil 0x4981 Throttle Fault 0x4981 Throttle Fault 0x4B81 Anon EMCY 0x4C41 Too Many Slaves 0x4dc3 Supply Critical 0x4F01 Bad State 0x4F02 EMCY Fail 0x4f41 Internal Fault 0x4F41 Internal Fault 0x4F42 Out of Memory 0x4F43 General DSP Error 0x4F44 Timer Error 0x4F45 Queue Error 0x4F46 Sched Error 0x4F47 DSP Heartbeat 0x4F48 IO SS Error 0x4F49 GIO SS Error 0x4F4A LCM SS Error 0x4F4B LCP SS Error 0x4F4C OBD SS Error 0x4F4D VEHAPP SS Error 0x4F4E DMC SS Error 0x4F4F TracApp SS Error 0x4F50 New PF Detected 0x4F51 DSP not detected 0x4F52 DSP Comms Error 0x4F53 App Mgr SS Error 0x4f55 DSP param 0x4F81 Anon EMCY 0x5041 Bad NVM Data 0x5042 VPDO out of range 0x5043 Param fixed range error 0x5043 Param fixed range error 0x5044 Param dyn range error 0x5044 Param dyn range error 0x5081 Invalid Steer Switches 0x5101 Line Contactor o/c 0x5141 Line Contactor welded 0x5181 Dig In Wire Off 0x5182 Alg In Wire Off 0x5183 Alg Out Over I 0x5184 Alg Out On with No FS 0x5185 Alg Out Off with FS 0x51C1 Power Supply Interrupt 0x51C2 Precharge fail 0x52c1 Encoder fault 0x52c3 Current Control Fault 0x5301 CANbus Fault 0x5302 No Bootup 0x5303 LPRX CAN 0x5304 LPTX CAN 0x5305 HPRX CAN 0x5306 HPTX CAN 0x5307 CAN Overrun 0x5308 CAN Off 0x5309 Nodeguard Error 0x530A PDO Short 0x530B HBeat Error 0x530C CANopen Device State 0x530D CAN Error State 0x530E SDO Handle Error 0x530F SDO Timeout 0x5310 SDO Abort 0x5311 SDO State Error 0x5312 SDO Toggle Error 0x5313 SDO Rx Error 0x5314 SDO Length Error 0x5315 SDO Tx Error 0x5316 CANopen Ev Unknown 0x5317 SDO Bad Source 0x5318 SDO Bad Error No 0x5319 Mtr Slv in Wrong State 0x5319 Mtr Slv in Wrong State 0x5341 Wrong DSP protocol 0x5342 Osc WDog Tripped 0x5343 Flt o/flow 0x5381 Anon EMCY 0x54c1 DSP Overvoltage 0x54C1 DSP Overvoltage 0x54C2 DSP PF Fault 0x54C3 Mosfet s/c M1 Top 0x54C4 Mosfet s/c M1 Bottom 0x54C5 Mosfet s/c M2 Top 0x54C6 Mosfet s/c M2 Bottom 0x54C7 Mosfet s/c M3 Top 0x54C8 Mosfet s/c M3 Bottom 0x54C9 Mosfet tests incomplete 0x5741 Invalid Rating 0x5781 Anon EMCY Example: ID b0 b1 b2 b3 b4 b5 b6 b7 "82";"00 31 04 C2 51 00 04 00" Node id 2 sends emergency error. Error code: 0x3100 (b1+b0) meaning "Voltage" error category Error cause: 0x04 (b2) bit 2 set meaning "Voltage" error cause Sevcon error: 0x51C2 meaning "Precharge fail"