IFM Electronic Ecomat 100 ecomatmobile SmartController CR2500, Системное руководство

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ifm System Manual ecomat mobile SmartController (CR2500, CR2502) V05
CAN in the ecomatmobile controller ifm CANopen library
113
Device Description
PDM360: CR1050,
CR1051, CR1060
PDM360 compact:
CR1052, CR1053,
CR1055, CR1056
Network variables are supported on interface 1 (value = 0) and 2 (value =
1).
CAN master
Transmit and receive lists are processed directly.
You only have to make the settings described above.
CAN device
Transmit and receive lists are processed directly.
You only have to make the settings described above.
Important!
If [support network variables] is selected in the PDM360 or PDM360
compact, you must at least create one variable in the global variable list and
call it once in the application program. Otherwise the following error
message is generated when compiling the program:
Error 4601: Network variables 'CAN': No cyclic or freewheeling task for
network variable exchange found.
8.7.6 Information on the EMCY and error codes
Structure of an EMCY message
Under CANopen error states are indicated via a simple standardised mechanism. For a CANopen
device every occurrence of an error is indicated via a special message which details the error.
If an error or its cause disappears after a certain time, this event is also indicated via the EMCY
message. The errors occurred last are stored in the object directory (object 1003
16
) and can be read
via an SDO access (
→
function CANx_SDO_READ,
→
page 139 ). In addition, the current error
situation is reflected in the error register (object 1001
16
).
A distinction is made between the following errors:
•
Communication error
The CAN controller signals CAN errors.
(The frequent occurrence is an indication of physical problems. These errors can
considerably affect the transmission behaviour and thus the data rate of a network.)
Life guarding or heartbeat error
•
Application error
Short circuit or wire break
Temperature
too high
Structure of an error message
The structure of an error message (EMCY message) is as follows:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
EMCY error code as
entered in the object
1003
16
object
1001
16
manufacturer-specific information