Error Objects - Wieland samos PRO COMPACT Manual

10.12

Error objects

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The SP-CANopen module reports CAN-specific errors (e.g. initialization errors, cable brackets,
CAN communication errors) to the controller module as SBUS+ errors.
Emergency object
The emergency producer (CANopen gateway) sends the emergency object to the emergency
consumer (any CANopen device, usually the controller) when CAN-specific errors occur or an
error state occurs, as described in the table
140] .
The emergency object is sent as described in DS 301 (CANopen specifications) in accordance
with the following table:
Table 110: Emergency states and transitions
Emergency state
Before
Error-free
Error occurred
Error occurred
Error occurred
The gateway is in one of two possible emergency states, either
Emergency objects are sent, depending on the transitions between these two emergency sta-
tes. The error code in the emergency object shows the emergency state in which the gateway
currently is (also see table below).
Overview of error objects
Table 111: CAN-specific errors
Error Error code
SBUS+
CAN data over- 0x4501
flow
CAN control
overflow in
Rx Fifo
CAN-error- 0x4503
passive CAN
control takes
place in an
error-passive
state
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
Transition Module-specific alarms
1 Incoming error
2 Error removed, other
errors pending
3 Incoming error, other
errors pending
4 All errors removed
Error type Emergency
error code
Error register
M1...M5
Warning 0x8110
0x11
1, 0, 0, 0, 0
Warning 0x8120
0x11
0, 0, 0, 0, 0
CANopen gateway
"CANopen Emergency Messages" [ch. 10.6, p.
error-free
Error history Results/possible remedy
SDO 1003
– • CAN messages have been
lost.
• Limited band width.
• Check the CAN settings,
increase the baud rate, re-
duce the number of partici-
pants or the data volume.
– The gateway is only sending
recessive bits, i.e. it is invalida-
ting its own messages.
The cause is either a hardware
fault on the gateway or an ex-
ternal malfunction of the data
transmission.
• Check the cabling.
Emergency state
After
Error occurred
Error occurred
Error occurred
Error-free
or errors detected .
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