DIS Sensors CAN Panduan Pengguna - Halaman 10
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CAN User Manual
Inclination Safety Sensor
(Type D) V2.0
0Ah
Wait for end of CRC calculation for CSC main
0Bh
Start CRC calculation ROM for application
0Ch
Wait for end of CRC calculation for application
0Dh
Start CRC calculation ROM for start-up monitor
0Eh
Wait for end of CRC calculation for start-up monitor
0Fh
Check RAM with GALPAT algorithm
10h
Check software interrupt
11h
Check software interrupt was ok
12h
Check undefined instruction interrupt
19h
Check undefined instruction interrupt was ok
7Fh
Idle state
07h
Application error
00h
No application error
01h
Unknown interrupt occurs
02h
Safety RAM error
04h
SRDO error
08h
3V3 monitor error
10h
Sensor element error (Redundancy Error)
20h
RAM error
40h
EEPROM error
80h
Watchdog or 5V under voltage error
multiple errors can be indicated (bitwise OR-ed) simultaneously.
Sensor goes to safe state (stop state) when an error is reported. Sensor must be power cycled to restart.
Example:
Receive COB-id 81h with data 00h FFh 01h 80h 00h 00h 0Eh 08h
81 emergency message of node id 01h
00h FFh-> FF00h CAN Open device specific error code
01h->
error register object 1001h
80h 00h ->0080h
CSC stack has entered safety stop
00h
reserved
0Eh
Wait for end of CRC calculation for start-up monitor
08h.
3V3 monitor error
10 CAN Predefined Connection Object ID's
Table 3: COB id's
CAN-ID
Data
000h
080h
080h + node-ID
0FFh + 2 * node-ID
100h + 2 * node-ID
180h + node-ID
280h + node-ID
580h + node-ID
600h + node-ID
700h + node-ID
00h
04h
05h
7Fh
Standard CAN Connection Object ID's (Most used)
Description (client = CAN master, server = sensor)
NMT Network Management
Sync command to sensor
Emergency message from sensor
SRDO1 normal message
SRDO1 inverse message
TPDO1 message from sensor
TPDO2 message from sensor
SDO Download Request: Feedback from sensor (server to client)
SDO Upload Request:
heartbeat from sensor, boot-up mode
heartbeat from sensor, stopped mode
heartbeat from sensor, operational mode
heartbeat from sensor, pre-operational mode
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Write to sensor (client to server)