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WCS-10 User manual  

 

36 

Copyright © TK Engineering Oy 2009 - 2017 
 

5  Error message 

 
The error messages (EMCY) are using CANopen protocol as template. Software is producing tree 
types of error messages for each CAN interface. The error messages are defined in table below. 
 

Table 59: Error message descriptions 

Error 
code 

Error message 

Description 

0x8119 

TX Overrun 

This error message occurs when target CAN channel has dropped 
telegrams, because of overrun. Overrun is when 3-stage HW buffer and 
16-stage SW buffer is full. 

0x8111 

RX Overrun 

This error message occurs when the receiving CAN channel 5-stage 
HW buffer is full. 

0x0000 

Error-Active 

Sent after a error state is cleared and transmission is working without 
errors. 

0x8120 

Error-Warning 

RX or TX counter >96 and ≤ 127 

0x8121 

Error-Passive 

RX or TX counter >127 and ≤ 255 

0x8122 

Bus-off 

RX and TX counter > 255 

 
In table below the bytes in CANopen telegram are defined. 
 

Table 60: Error message structure 

Byte 

Description 

0 

Error code LSB 

1 

Error code MSB 

2 

Error-register object (0x1001) 

3 

Target CAN interface error occurred 

4 

Error counter, counter of how many times the error occurred LSB 

5 

Error counter, MSB 

6 

not used 

7 

not used 

 

Содержание WCS-10

Страница 1: ...WCS 10 User manual 1 Copyright TK Engineering Oy 2009 2017 WCS 10 USER MANUAL WCS 10 manual version 1 41 Firmware version 0x1002b Marine Type Approvals info tke fi www tke fi...

Страница 2: ...tails 11 2 2 Mechanical Dimensions 11 2 3 Connectors 12 2 4 Block schema 13 2 5 Termination 14 2 6 Power supply 14 2 7 Transceivers 14 2 8 Isolation 14 2 9 PE Grounding 14 2 10 Light Emitting Diodes L...

Страница 3: ...s 0x50x0 23 4 3 3 Acceptance filter configurations first filter bank 0x50x1 25 4 3 4 Acceptance filter configurations second filter bank 0x50x2 26 4 3 5 Acceptance mask configurations first filter ban...

Страница 4: ...20 0x1018 object description 22 Table 21 0x1018 entry description 22 Table 22 Revision number structure 22 Table 23 0x2000 object description 23 Table 24 0x2000 entry description 23 Table 25 0x5010 0...

Страница 5: ...able 49 HW filter configuration description 29 Table 50 32 bit filter extended ID example 31 Table 51 32 bit filter standard ID example 32 Table 52 Universal ID routing settings 33 Table 53 0x6800 sub...

Страница 6: ...e 3 WCS 10 04 Block schema 13 Figure 4 Internal termination 14 Figure 5 32 bit filter using extended ID register 30 Figure 6 32 bit filter using extended ID register only accepting extended CAN ID 0x1...

Страница 7: ...ion 22 12 08 1 18 BCAB Changed Firmware version 29 12 08 1 19 PSAN Changed EMCY codes to match firmware 29 12 08 1 20 BCAB Changed help text in EMCY codes table 30 12 08 1 21 BCAB Changed EMCY bus sta...

Страница 8: ...l 8 Copyright TK Engineering Oy 2009 2017 12 06 09 1 39 BCAB GL type approval status changed 19 01 17 1 41 RCS Front page picture changed to one with TKE logo spelling fixes TK Engineering Oy 2009 All...

Страница 9: ...V1 2 Definitions acronyms and abbreviations ASAP As soon as possible ASCII American standard for information interchange CAN Controller Area Network CAN ID Identifier of the CAN telegram CANopen Highe...

Страница 10: ...em please ensure that connecting the WCS 10 to your system network will not injure persons or cause material damage You must not use WCS 10 in applications environments where the use of WCS 10 can dir...

Страница 11: ...CAN4 galvanically isolated 1kV ISO11898 Max 1Mbps CAN configuration port CANA ISO11898 Max 1Mbps Operating temperature range 40 C 85 C Storage temperature range 50 C 105 C Protection class IP30 Weigh...

Страница 12: ...7 CAN4 H X13 9 PWR OUT X13 Screen PE Tyco AMP 3 388313 2 X12 X12 1 PWR 2 X12 2 PWR 2 X12 3 CAN2 H X12 4 CAN2 L X12 5 CAN2 Term X12 6 CANA H Phoenix MSTBV 2 5 8 GF 5 08 AU X12 7 CANA L X12 8 CANA Term...

Страница 13: ...1A 25deg C 24V 5V SMD autofuse 500mA 25deg C Power Supply CAN Led x 4 BDM Debug Power Supply Monitor Power Led x 2 CAN4 Termination 120ohm 8 pole Combicon CAN2 X12 3 CAN2 H X12 4 CAN2 L X12 5 CAN2 Te...

Страница 14: ...ltaneous or on only one of the two The max power consumption when stress tested was 3 5W In normal operation the power consumption is about 3W Table 1 Power supply characteristics Info Max Min Recomme...

Страница 15: ...On Traffic Blink 1 s TX Error Blink 5 s RX Error Table 4 Priority of led indication states Prio Status Prio 1 No traffic Prio 2 TX Buffer overrun Prio 3 RX Buffer overrun Prio 4 Traffic Table 5 Led bl...

Страница 16: ...started up it has hardcoded factory settings in routing table and CAN interfaces The factory settings are as follow Acceptance Filter All CAN interfaces has filter 0xFFFFFFFF Additional information re...

Страница 17: ...s 0x1018 Identity Identity object 0x00 U8 Largest sub index supported 0x01 U32 Vendor ID 0x02 U32 Product code 0x03 U32 Revision number 0x04 U32 Serial number Table 7 Manufacturer specific area Index...

Страница 18: ...Largest sub index supported 0x01 U8 CANA register BTR0 0x02 U8 CANA register BRT1 Table 8 Device profile specific area Index Sub idx Type Bits Description 0x6800 0x01 U32 Universal ID route settings...

Страница 19: ...ex 0x1000 Name Device type Object code Variable Data type U32 Category Mandatory Table 10 0x1000 entry description Attribute Value Sub index 0x00 Access Constant PDO mapping No Value range U32 Default...

Страница 20: ...description Attribute Value Sub index 0x00 Description Highest sub index supported Access RO PDO mapping No Value range 0x01 0x7F Default value 0x03 Sub index 0x01 Description Save all parameters Acce...

Страница 21: ...nsecutive emergency objects produced by node 4 2 5 Producer heartbeat time 0x1017 Table 18 0x1017 object description Attribute Value Index 0x1017 Name Producer heartbeat time Object code Variable Data...

Страница 22: ...ault value 0x04 Sub index 0x01 Description Vendor ID Access RO PDO mapping No Value range U32 Default value 0x00000209 TK Engineering Oy Sub index 0x02 Description Product code Access RO PDO mapping N...

Страница 23: ...escription Attribute Value Index 0x2000 Name Disable Enable Heartbeat Object code Variable Data type U8 Category Mandatory Table 24 0x2000 entry description Attribute Value Sub index 0x00 Access rw PD...

Страница 24: ...0x3A 8 62 5 0x00 0x58 Table 29 Bit rate register enumeration for 800kbps Nr Time quanta Sample Point Register BTR0 Register BRT1 20 85 0x00 0x2F 20 75 0x00 0x4D 20 65 0x00 0x6B Table 30 Bit rate regis...

Страница 25: ...Name Port 1 4 acceptance filter configuration Object code Variable Data type U32 Category Optional Table 36 0x50x1 entry description Attribute Value Sub index 0x00 Access RW PDO mapping No Value range...

Страница 26: ...Attribute Value Sub index 0x00 Access RW PDO mapping No Value range U32 see Table 40 Default value 0xFFFFFFFF HW acceptance filter is unsigned 32 See ref 2 chapter 13 3 2 17 data sheet for details The...

Страница 27: ...range U32 see Table 43 Acceptance mask register mapping Default value 0xFFFFFFFF Don t care all HW acceptance mask is unsigned 32 See ref 2 chapter 13 3 2 18 data sheet for details The values from the...

Страница 28: ...alue Sub index 0x00 Access RW PDO mapping No Value range U32 see Table 46 Default value 0xFFFFFFFF Don t care all HW acceptance mask is unsigned 32 See ref 2 chapter 13 3 2 18 data sheet for details T...

Страница 29: ...Index 0x5019 CAN1 0x5029 CAN2 0x5039 CAN3 0x5049 CAN4 Name Port 1 4 filter configuration register Object code Variable Data type U8 Category Optional Table 48 0x50x9 entry description Attribute Value...

Страница 30: ...AM5 AM4 AM3 AM2 AM1 AM0 ID6 ID5 ID4 ID3 ID2 ID1 ID0 RTR AM7 AM6 AM5 AM4 AM3 AM2 AM1 AM0 ID6 ID5 ID4 ID3 ID2 ID1 ID0 RTR AC7 AC6 AC5 AC4 AC3 AC2 AC1 AC0 ID6 ID5 ID4 ID3 ID2 ID1 ID0 RTR AC7 AC6 AC5 AC4...

Страница 31: ...n CAN controller acceptance mask register is masked as don t care ID28 ID27 ID26 ID25 ID24 ID23 ID22 ID21 ID20 ID19 ID18 SRR IDE ID17 ID16 ID15 ID13 ID12 ID11 ID10 ID8 ID7 ID6 ID5 ID4 ID3 ID2 ID1 ID0...

Страница 32: ...ID14 0 ID12 ID11 ID10 ID9 ID8 ID7 ID6 ID5 ID4 0 ID2 ID1 ID0 RTR 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ID28 ID27 ID26 ID25 ID24 ID23 ID22 ID21 ID20 ID19 ID18 SRR IDE 0 ID16 ID15 ID1...

Страница 33: ...1 entry description CAN ID Attribute Value Sub index 0x01 Description CAN id NOTE This ID will be ignored Access RW PDO mapping No Value range U32 Default value 0x00000000 Table 54 0x6800 sub2 entry...

Страница 34: ...eived from CAN1 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Not forwarded to CAN4 1 Forwarded to CAN4 0 Not forwarded to CAN3 1 Forwarded to...

Страница 35: ...eived from CAN3 are copied to CAN1 2 and 4 D Messages with EXT ID 0x3f received from CAN2 are copied to CAN1 3 and 4 E Messages with EXT ID 0x3f received from CAN1 are copied to CAN2 3 and 4 Row 1 CAN...

Страница 36: ...16 stage SW buffer is full 0x8111 RX Overrun This error message occurs when the receiving CAN channel 5 stage HW buffer is full 0x0000 Error Active Sent after a error state is cleared and transmission...

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