Aventics CANopen Instrucciones De Servicio página 109

AVENTICS | CANopen, CANopen sb | R412009415–BDL–001–AE 109
Table 28: Module Control Register
Bit 7 Bit 6
Bit 15 Bit 14
Low byte
Bit 0
0
1
Bit 2 Bit 1
0 0
0 1
1 0
1 1
Bit 3
0
1
Bit 4 to bit 15
Table 29: Behavior of the bus coupler in the case of an error
Error case Comments
BUS OFF CAN controller is in the "bus off" state, which
means that the "transmit error counter" of
the CAN controller has exceeded the limit
of 256.
Guarding Node guard monitoring time has run out.
failure Only occurs when node guarding has been
activated by the CAN master.
Table 30: Reaction of the bus coupler to NMT service (no error)
NMT service
NMT_
RESET_NODE
NMT_
RESET_COM
NMT_
STOP
NMT_
PRE-OPERATIONAL
Low byte
Bit 5 Bit 4
High byte
Bit 13 Bit 12
Meaning
Module status in case of error
Pre-operational
Operational
Outputs in case of error
CLAB: set outputs to zero (default)
Last state: Outputs remain in their last state
Reserved
Reserved
EMCY reaction in case of error
Emergency telegram is being sent
Emergency telegram is not being sent
Reserved (fixed at 0)
Module status
Pre-operational
Pre-operational
Pre-operational
Pre-operational
Bit 3 Bit 2
Bit 11 Bit 10
Module
Outputs
status
According According
to to
MCR bit 0 MCR bit 2, 1
According According
to to
MCR bit 0 MCR bit 2, 1
Outputs
All outputs deleted
According to MCR bit 2.1
According to MCR bit 2.1
According to MCR bit 2.1
Appendix
Bit 1 Bit 0
Bit 9 Bit 8
EMCY
reaction
According
to
MCR bit 3
According
to
MCR bit 3
Reaction
No EMCY
No EMCY
No EMCY
No EMCY