IFM Electronic CR0451 - Page 210

210
ifm System Manual ecomatmobile BasicDisplay (CR0451) V01
CAN in the PDM360 CAN errors and error handling
Object 0x1001 (error register)
8547
This object reflects the general error state of a CANopen device. The device is to be considered as
error free if the object 1001
16
signals no error any more.
Bit Meaning
0 Generic Error
1 Current
2 Voltage
3 Temperature
4 Communication Error
5 Device Profile specific
6 Reserved – always 0
7 manufacturer specific
Manufacturer specific information
8548
A device manufacturer can indicate additional error information. The format can be freely selected.
Example:
In a device two errors occur and are signalled via the bus:
- Short circuit of the outputs:
Error code 2300
16
,
the value 03
16
(0000 0011
2
) is entered in the object 1001
16
(generic error and current error)
- CAN overrun:
Error code 8110
16
,
the value 13
16
(0001 0011
2
) is entered in the object 1001
16
(generic error, current error and communication error)
>> CAN overrun processed:
Error code 0000
16
,
the value 03
16
(0000 0011
2
) is entered in the object 1001
16
(generic error, current error, communication error reset)
It can be seen only from this information that the communication error is no longer present.
Overview CANopen EMCY codes (CR0451)
8413
All indications (hex) for the 1st CAN interface.
EMCY code object
1003
16
Object
1001
16
Manufacturer-specific information
Byte 0 1 2 3 4 5 6 7 Description
00 80 11 CAN1 monitoring SYNC error (only slave)
10 81 11 CAN1 receive buffer overrun
11 81 11 CAN1 transmit buffer overrun
30 81 11 CAN1 guard/heartbeat error (only slave)