CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
4.4 Error Situations and Emergency (EMCY) Objects
The CANopen slave implements an error state machine which can be either in the state Error-Free or
in the state Error. A state change can be caused by the application layer using the API described in this
chapter or is caused internally if a communication or configuration error situation is detected or
resolved. The picture below describes the possible transitions between the error-free and the error
state:
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(1)
(0)
Error-Free Status
(2) (4)
Error Situation
Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Slave
(3)
Fig. 3: Error State Transition Diagram
(0) After calling canOpenActivateNode() the CANopen node gets into error-free state.
(1) If canOpenSetError() is called by the application or an internal communication or
configuration error is detected, the error is indicated as described in the following abstract
and the CANopen node changes into the error state. The internal node error counter is
incremented .
(2) If canOpenSetError() is called again, the previous tasks are repeated and the CANopen
node remains in the error state.
(3) If canOpenResetError() is called by the application or an internal communication or
configuration error condition is solved, the error is incicated as described in the following
abstarct and the node’s internal error counter is decremented. As long as the counter doesn’t
reach 0 the CANopen node remains in the error state.
(4) If the internal error counter becomes 0 during the previous step the node changes back into
the error-free state.