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
316
Object 0x1001 (error register)
8547
This object reflects the general error state of a CANopen device. The device is to be considered as
error free if the object 1001
16
signals no error any more.
Bit Meaning
0 generic error
1 current
2 voltage
3 temperature
4 communication error
5 device profile specific
6 reserved – always 0
7 manufacturer specific
For an error message more than one bit in the error register can be set at the same time.
Example:
CR2033, message "wire break" at channel 2 (

installation manual of the device):
COB-ID DLC Byte 0 Byte 1 Byte Byte 0 Byte 1 Byte 2 Byte 3 Byte 4
80
16
+
node ID
00 FF 81 10 00
00 00 00
Error-Code = FF00
16
Error register = 81
16
= 1000 0001
2
, thus it consists of the following errors:
- generic error
- manufacturer specific
Concerned channel = 0010
16
= 0000 0000 0001 0000
2
= wire break channel 2
Manufacturer specific information
8548
A device manufacturer can indicate additional error information. The format can be freely selected.
Example:
In a device two errors occur and are signalled via the bus:
- Short circuit of the outputs:
Error code 2300
16
,
the value 03
16
(0000 0011
2
) is entered in the object 1001
16
(generic error and current error)
- CAN overrun:
Error code 8110
16
,
the value 13
16
(0001 0011
2
) is entered in the object 1001
16
(generic error, current error and communication error)
>> CAN overrun processed:
Error code 0000
16
,
the value 03
16
(0000 0011
2
) is entered in the object 1001
16
(generic error, current error, communication error reset)
It can be seen only from this information that the communication error is no longer present.