Appendix - Bus Master Configuration - Aventics CANopen VS CL03 Serie Instrucciones De Servicio

108 AVENTICS | CANopen | R402003660–BAL–001–AE
Appendix – bus master configuration
Table 27: 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
failure out. Only occurs when node guarding
has been activated by the CAN master.
Table 26: Module Control Register
Bit 7 Bit 6 Bit 5
Bit 15 Bit 14 Bit 13
Low Byte Meaning
Bit 0 Module status in case of error
0 Pre-operational
1 Operational
Bit 2 Bit 1 Outputs in case of error
0 0 CLAB: set outputs to zero (default)
0 1 Last state: Outputs remain in their last state
1 0 Reserved
1 1 Reserved
Bit 3 EMCY reaction in case of error
0 Emergency message is being sent
1 Emergency message is not being sent
Bit 4 to bit 15 Reserved (fixed at 0)
Low byte
Bit 4 Bit 3
High byte
Bit 12 Bit 11
Module
Outputs
status
According to According to
MCR bit 0 MCR bit 2, 1
According to According to
MCR bit 0 MCR bit 2, 1
Bit 2 Bit 1 Bit 0
Bit
Bit 10 Bit 8
9Bit 9
EMCY
reaction
According to
MCR bit 3
According to
MCR bit 3