Implemented CANopen Objects
Manual • Doc.-No.: C.3030.21 / Rev. 1.4
CAN-CBX-AI420
Page 54 of 103
error-code x The 32-bit long error code consists of the CANopen-emergency error code described in
[1] and the error code defined by esd (manufacturer-specific error field).
Bit:
31 ...
... 16
15 ...
... 0
Contents:
manufacturer-specific
error field
emergency-error-code
manufacturer-specific error field:
always ‘00’, unless
emergency-error-code = 2300
h
(see below)
emergency-error-code:
The following error-codes are supported:
8110
h
- CAN overrun error
- Sample rate is set too high, thus the firmware is not able
to transmit all data to the CAN bus.
8120
h
- CAN in error passive mode
8130
h
- Lifeguard error / heartbeat error
8140
h
- Recovered from “Bus Off”
8240
h
- Unexpected SYNC data length
6000
h
- Software error:
-EEPROM checksum error (no transmission of this error
message as emergency message)
6110
h
- Internal Software error
e.g.:
- saved data had invalid checksum and default data is
loaded
FF10
h
- Data loss (A/D data overflow)
5000
h
- Hardware error (e.g. A/D-converter defective)
5030
h
- Sensor error
Emergency Message
The data otf the emergency frame transmitted by the CAN-CBX-module have the following structure:
Byte:
0
1
2
3
4
5
6
7
Contents:
emergency-error-code
(siehe oben)
error-
register
1001
h
no_of_errors
_ in_list
1003,00
h
-
An emergency message is transmitted, if an error occurs. If this error occurs again, no further emergency
message is generated.
If the last error message is cancelled, again an emergency message is transmitted to indicate the error
disappearance.
