Mitsubishi Electric CANopen ME3CAN1-L, Руководство пользователя

Страница: 40 / 188

Detailed Description of the Module Buffer Memory Details: CANopen Mode
3 – 18 MITSUBISHI ELECTRIC
3.5.7 Error state (Un\G29)
The following table shows the description of the error if a bit in the buffer memory address Un\G29 is
set.
Layer 2 modes: The configuration must not be changed when the module is set to ONLINE, before changing the configu-
ration set Yn0 to OFF (configuration mode) and wait until Xn0 is OFF (module OFFLINE/INIT). The affected configurations
buffer memories are Un\G10000 to Un\G10293, Un\G6000 to Un\G6167 and Un\G8400 to Un\G8402.
Any CANopen node will check all CAN messages on the bus for errors. Depending on the error state the action that the
node will take is different:
앫
In error active state:
The node will actively mark the frame as invalid.
앫
In error passive state:
The node will not actively mark the frame as invalid to avoid bus disturbance if the node itself has an H/W problem.
If one or more of the bits 1, 4, 6, 8, or 15 in UN\G29 are set, XnF will be turned ON.
The bits 5 6, 8, and 15 are latched and it is necessary to set YnF to ON which will clear all latched error
bits in Un\G29. All other bits are reset automatically if the cause for the error is solved.
Bit Error Description/Corrective action
0 Reserved
1 Hardware error
This bit can only be reset by switching the power OFF/ON.
Contact your Mitsubishi Electric representative.
2 Reserved
3 The CAN controller is bus OFF.
The CAN controller has too many transmission errors (Refer to section 3.5.8).
Restart the Module (Refer to section 3.3.2).
4 FLASH memory error
Invalid data in the Flash memory might be caused by power loss during a write
operation to the Flash ROM.
If this bit is not cleared after a module restart (Yn2) or another power cycle, please
contact your Mitsubishi Electric representative.
5
Invalid write access in Layer 2
mode
Invalid write access to configuration buffer memory while in ONLINE/INIT mode.
Check user program, do not write into configuration buffer memory when mod-
ule is ONLINE.
���
In Un\G40 the buffer memory address where this failure occurred will be
displayed.
6 Buffer memory setting error
This bit is set if an attempt to write an invalid value into a buffer memory is
detected.
The target buffer memory address of the invalid write access is displayed in
Un\G39 (Refer to section 3.5.10). Check Un\G39 for buffer memory address and
correct set value to valid range.
7 Reserved
8 Internal data queue overflow
Extreme bus load can cause the internal queues to overflow.
Decrease the bus load. At a low baud rate a too fast data exchange (refer to sec-
tion 3.5.1) can overflow the CAN Transmit Buffer (Depends also on the bus-load of
the CAN).
9
Reserved
10
11
12
13
14 CAN error passive state
This bit shows the CAN error active state/passive state.
Bit = 0: Error active state
Bit = 1: Error passive state
���
This bit will be reset automatically if the internal error counters return back below
128. (Refer to sections 3.5.8 and 3.5.9)
15
Layer 2 Message Slot specific
error exists. Check the Message Slot specific error code in Un\G5001–Un\G5584 (Refer to sec-
tion 3.6.1).
Tab. 3-12: Assignment of the bits in buffer memory address Un\G29