IFM ecomatmobile ecomat100 CR1080, Системное руководство

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ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN errors and error handling
313
9.7 CAN errors and error handling
Structure of an EMCY message................................................................................................ 313
Overview CANopen error codes ............................................................................................... 315
CANopen POUs for error handling............................................................................................ 318
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9.7.1 Structure of an EMCY message
A distinction is made between the following errors: .................................................................. 313
Structure of an error message .................................................................................................. 314
Identifier ................................................................................................................................... 314
EMCY error code....................................................................................................................... 314
Object 0x1003 (error field) ........................................................................................................ 314
Signalling of device errors......................................................................................................... 314
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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
CANOPEN_SDOREAD ( → page 279 ).
> In addition, the current error situation is reflected in the error register (object 1001
16
).
A distinction is made between the following errors:
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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