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Operating Instructions
Chapter
6
Flexi Soft Gateways
8012664/XB29/2013-06-11
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
155
Subject to change without notice
Fieldbus gateways
6.2.12
Error objects
The FX0-GCAN reports CAN specific errors (e.g. initialisation errors, cable break, CAN
communication errors) as errors to the main module.
Module specific errors as described in Tab. 105 are reported as extended diagnostics via
the emergency object and SDO 1003.
Emergency object
The emergency producer (CANopen gateway) is triggered to send the emergency object to
the emergency consumer (any CANopen device, normally the controller) by the occurence
of CAN specific errors or an error condition as described in Tab. 105.
The emergency object is being sent as described in DS 301 (section 9.2.5):
Emergency state before
Transition
Module specific alarms
Emergency state after
Error free
1
Incoming error
Error occured
Error occured
2
Outgoing error, other errors
present
Error occured
Error occured
3
Incoming error, other errors
present
Error occured
Error occured
4
All errors cleared
Error free
The gateway is in one of two emergency states, either
Error free
or
Error occured
. Emer-
gency objects are sent depending on the transitions between these two emergency states.
The error code in the emergency object shows the emergency state the gateway is in. See
also Tab. 131.
Error objects overview
CAN specific errors Error code
Error type
Emergency error code
Error register
M1…M5
Error
history
SDO 1003
Result/possible remedy
CAN data overrun
CAN controller overrun
in Rx Fifo
4501h Warning 8110h
11h
1, 0, 0, 0, 0
–
CAN messages have been lost.
Bandwidth is limited.
Check CAN settings, increase baud rate,
reduce participants/traffic.
CAN error passive
CAN controller is in
error passive state.
4503h Warning 8120h
11h
0, 0, 0, 0, 0
–
The gateway sends only recessive bits, i.e. it
sets its own messages to invalid. The reason
is either a gateway hardware error or external
data transmission interferences.
Check cabling.
CAN bus off
CAN controller is in
bus off state
4504h Warning –
–
Massive transmission errors. CAN controller
has disconnected from the bus. Possible
hardware defect.
Power cycle the Flexi Soft system.
CAN Tx Fifo overflow
CAN controller has no
transmit ressources
4506h Warning 8110h
11h
2, 0, 0, 0, 0
–
CAN messages that were to be sent by the
gateway have been lost. The number of
events triggering the gateway to send CAN
messages is too high for the set baud rate.
Increase the baud rate or change the
gateway configuration.
CAN init failed
The CAN controller
could not be initialised
C507h Critical –
–
The CAN controller/transceiver is possibly
defect.
Replace the FX0-GCAN with a new device.
CANopen life guarding
CANopen life guarding
has detected a cable
break
4508h Warning 8130h
11h
0, 0, 0, 0, 0
–
Life guarding error message generated by the
gateway: Either a failure of the node guarding
or heartbeat NMT master has occurred or the
CAN cable is broken.
Check the CANopen master. Check cabling.
Tab. 130: Emergency states
and transitions