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13
Transmit error counter ≥ 128
or
Receive error counter ≥ 128
Error-passive
Figure 13.3.3 CAN Control Error States
The CAN controller assumes one of the following three error states depending on the transmit error
and receive error counter values.
(1) Error-active state
• This is a state where almost no errors have occurred.
• When an error is detected, an active error flag is transmitted.
• Immediately after being initialized, the CAN controller is in this state.
(2) Error-passive state
• This is a state where many errors have occurred.
• When an error is detected, a passive error flag is transmitted.
(3) Bus-off state
• This is a state where a large number of errors have occurred.
• CAN communication with other nodes cannot be performed until the CAN module
returns to an error-active state.
Error status of the unit
Error-active state
Error-passive state
Bus-off state
Error-active
Transmit error counter < 128
and
Receive error counter < 128
state
Transmit error counter > 255
Transmit error counter
0-127
128-255
256-
13-55
Initial settings
state
11 consecutive recessive bits
detected on CAN bus 128 times
or
reset by software
Bus-off
and
or
CAN MODULE
13.3 CAN Protocol
state
Receive error counter
0-127
128-
Ver.0.10
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