ESD C.3012.02, Manual

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Implemented CANopen Objects
Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4 Page 52 of 99
7.9.4 Pre-defined Error Field (1003
h
)
INDEX 1003
h
Name pre-defined error field
Data type unsigned 32
Access mode ro
Default value No
The pre-defined error field provides an error history of the errors that have occurred on the device and
have been signalled via the Emergency Object.
Sub-index 0 contains the current number of errors stored in the list.
Under sub-index 1 the last error which occurred is stored. If a new error occurs, the previous error is
stored under sub-index 2 and the new error under sub-index 1, etc. In this way a list of the error history
is created.
The error buffer is structured like a ring buffer. If it is full, the oldest entry is deleted for the latest entry.
This module supports a maximum of 10 error entries. When the 11th error occurs the oldest error entry
is deleted. In order to delete the entire error list, sub-index ‘0’ has to be set to ‘0’. This is the only
permissible write access to the object.
With every new entry to the list the module transmits an Emergency Frame to report the error.
Index
Sub-
index
Description Value range Default Data type
Access
mode
1003
h
0 no_of_errors_in_list 0, 1...A
h
- unsigned 8 rw
1 error-code n 0...FFFFFFFF
h
- unsigned 32 ro
2 error-code (n-1) 0...FFFFFFFF
h
- unsigned 32 ro
: : : : : ro
A
h
error-code (n-9) 0...FFFFFFFF
h
- unsigned 32 ro
Meaning of the variables:
no_of_errors_in_list - contains the number of error codes currently on the list
n = number of error which occurred last
- in order to delete the error list this variable has to be set to ‘0’
- if no_of_errors_in_list
0, the error register (Object 1001
h
) is set