the slave outputs. In this situation, the outputs may need to change to a safe value. This is achieved with
error control.
To configure error control:
• Set each output at object 6C43
h
to use its last set value or the value at 6C44
h
if the CANbus fails.
• Set values if needed at 6C44
h
for each output. These values are 32-bit integers, but the bottom 16-
bits are ignored. The top 16-bits give the error value in 1/256 V/bit.
Some examples of typical configurations may be:
• Electro-mechanical brake on slave node. If CANbus communication is lost, it may be desirable to
apply the electro-mechanical brake on the slave device. In this case, enable error control in 6C43
h
and set the error value in 6C44
h
to 0.
• Power steer contactor on slave node. If CANbus communication is lost, it may be desirable to leave
the power steer output in its previous state. In this case, disable error control in 6C43
h
.
• CANbus communication error lamp on slave node. If CANbus communication is lost, it may be
desirable to activate an output on the slave device. In this case, enable error control in 6C43
h
and
set the error value in 6C44
h
to an appropriate voltage for the lamp.
The above examples are for illustration purposes only. It is the responsibility of the installer to decide on the
required state for each output in the event of a CANbus failure.
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