CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
An error situation or an repaired error is indicated to the application layer and on the CAN bus in
the following ways:
- The error is indicated in the mandatory Error Register Object (0x1001)
according to /1/.
- An Emergency (EMCY) Object according to /1/ is transmitted on the CAN-Bus.
The details of the EMCY object is described below. The CAN identifier of this
object can be configured with the parameter ulEmcyCobId of the structure
SLAVE_NODE_INFO which is described together with
canOpenCreateNodeEx().
- If the slave is initialized to support an error history via the Pre-defined error
field (0x1003), the latest error event is inserted at the top of this array.
- If the error is detected internally because of a communication or configuration
problem in addition to the previous operations the error is indicated to the
application via the node’s event handler.
The 8 byte EMCY object according to /1/ has the following structure:
2 Bytes 1 Byte 5 Byte
Emergency Error Code Error Register Manufacture-specific error code
A list of pre-defined Emergency Error Codes is described in /1/ and defined in the header
scanopen.h starting with the prefix EMCY. If an error event is caused by the application calling the
API functions canOpenSetError() or canOpenResetError() the 5 bytes of manufacturer-specific
error information can be used without any restrictions. If the EMCY object is transmitted because
of an internal communication or configuration error the 5 bytes are used in the following way:
Temporary Bits Sticky Bits Reason Info1 Info2
The Temporary Bits indicate temporary error conditions which are reset if the error is repaired:
Bit Description
0 NMT Error Control (Guarding/Heartbeat error).
1 CAN Controller Passive.
2 CAN Controller Bus Off
3-4 Reserved for future use by the CANopen stack.
5-7 Application specific temporary error.
CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 41 of 65