CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
Error objects
910845835
The SP-CANopen module reports CAN-specific errors (e.g. initialization errors, cable brackets,
CAN communication errors) to the controller module as SBUS+ errors.
Emergency object
The emergency producer (CANopen gateway) sends the emergency object to the emergency
consumer (any CANopen device, usually the controller) when CAN-specific errors occur or an
error state occurs, as described in the table
"CANopen Emergency Messages" [ch. 10.6, p.
140]
.
The emergency object is sent as described in DS 301 (CANopen specifications) in accordance
with the following table:
Table 110: Emergency states and transitions
Error occurred 2 Error removed, other
Error occurred
Error occurred 3 Incoming error, other
Error occurred
The gateway is in one of two possible emergency states, either
error-free
or
errors detected
.
Emergency objects are sent, depending on the transitions between these two emergency sta-
tes. The error code in the emergency object shows the emergency state in which the gateway
currently is (also see table below).
Overview of error objects
Table 111: CAN-specific errors
Emergency
error code
Error register
M1…M5
CAN data over-
flow
CAN control
overflow in
Rx Fifo
0x4501 Warning 0x8110
0x11
1, 0, 0, 0, 0
– • CAN messages have been
lost.
• Limited band width.
• Check the CAN settings,
increase the baud rate, re-
duce the number of partici-
pants or the data volume.
CAN-error-
passive CAN
control takes
place in an
error-passive
state
0x4503 Warning 0x8120
0x11
0, 0, 0, 0, 0
– The gateway is only sending
recessive bits, i.e. it is invalida-
ting its own messages.
The cause is either a hardware
fault on the gateway or an ex-
ternal malfunction of the data
transmission.
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