CANopen Manager / Slave Manual - esd electronics, Inc.

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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
CANopen-Slave The Sticky Bits indicate error conditions which are indicated even if the error is already repaired. Bit Description 0 CAN Controller Error. 1 Receive FIFO Overrun. 2 PDO Length Error. 3-4 Reserved for future use by the CANopen stack. 5-7 Application specific temporary error. The parameter Reason, Info1 and Info2 contain additional information to an internal generated EMCY object because of a communication or configuration error. The table below lists the internally generated EMCY objects and the meaning of the related manufacturer-specific parameter. Error Code Description Reason Info1 Info2 0x8100 Message Lost Error 1 = Rx Daemon FIFO # of Lost Messages 0 0x8110 CAN overrun (objects lost) 0 0 0 0x8120 CAN in error passive mode 0 0 0 0x8130 Life Guard or Heartbeat Error 0 0 0 0x8140 Recover from Bus-Off 0 0 0 0x8210 PDO not processed (length error) Internal PDO number CAN msg length PDO length 0x8220 PDO length exceeded Internal PDO number CAN msg length PDO length The application can participate using this error schema by setting Page 42 of 65 Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Slave
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CANopen Manager CANopen Manager Sof
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Manual File: Date of Print: 2008-06
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1. Reference CANopen Manager /1/: C
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2.3 Features of the CANopen manager
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3.2.2 Element description CANopen M
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Boot_Time Optional USHORT 0x1F89 10
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Preset_Emergency_Consumer Optional
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3.2.4 Elements of Node_Id Madatory
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Device_Type_Identification Optional
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NMT_Reset_Node Optional BOOL TRUE,
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4. Manager API 4.1 Overview The API
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mcanOpenConfig() Name: mcanOpenConf
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4.3 Optional node control functions
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mcanOpenGetNodeState() CANopen Mana
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mcanOpenWriteSDO() Name: mcanOpenWr
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mcanOpenNodeControl() CANopen Manag
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mcanOpenStopNode() Name: mcanOpenSt
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6. Appendix 6.1 Error Codes CANopen
Page 37 and 38: MCAL_CAN_CONTR_OFF_BUS Error in CAN
Page 39 and 40: CANOPEN_DCF_WRONG_NODE_ID Error dur
Page 41 and 42: CANOPEN_DCF_OUT_OF_LIMITS Error dur
Page 43 and 44: Severity Error MCAL_NO_NET Net numb
Page 45 and 46: MCAL_TOGGLE_ERROR Protocol error Se
Page 47 and 48: MCAL_NODE_NOT_FREE Getting node con
Page 49 and 50: Page 2 of 65 N O T E The informatio
Page 51 and 52: Contents Page 1. Reference ........
Page 53 and 54: CANopen-Slave 1. Reference /1/: CiA
Page 55 and 56: CANopen-Slave 3. CANopen Slave Base
Page 57 and 58: CANopen-Slave canOpenCreateNetwork
Page 59 and 60: CANopen-Slave 3.5 Synchronization (
Page 61 and 62: CANopen-Slave The Sticky Bits indic
Page 63 and 64: CANopen-Slave Page 16 of 65 followi
Page 65 and 66: CANopen-Slave Page 18 of 65 DevType
Page 67 and 68: CANopen-Slave Page 20 of 65 canOpen
Page 69 and 70: CANopen-Slave Page 22 of 65 ucMaxEr
Page 71 and 72: CANopen-Slave Page 24 of 65 ucError
Page 75 and 76: CANopen-Slave 4.2 Local Object Dire
Page 79 and 80: CANopen-Slave Page 32 of 65 these v
Page 83 and 84: CANopen-Slave 4.3 PDO Services Foll
Page 85 and 86: CANopen-Slave Page 38 of 65 A value
Page 87: CANopen-Slave 4.4 Error Situations
Page 95 and 96: CANopen-Slave 4.6 Event handler The
Page 97 and 98: CANopen-Slave ulEvent ulArg1 ulArg2
Page 99 and 100: CANopen-Slave DICTIONARY_ENTRY(Inde
Page 101 and 102: CANopen-Slave PDO Tables The follow
Page 103 and 104: CANopen-Slave The following example
Page 105 and 106: CANopen-Slave SCANOPEN_WRONG_SUBIND
Page 107 and 108: CANopen-Slave SCANOPEN_VALUE_TOO_LO
Page 109 and 110: CANopen-Slave SCANOPEN_TOO_MANY_OBJ
Page 111 and 112: CANopen-Slave SCANOPEN_INVALID_HAND
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CANopen Manager / Slave Manual - esd electronics, Inc.

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