DIS Sensors CAN Посібник користувача - Сторінка 9
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CAN User Manual
Inclination Safety Sensor
(Type D) V2.0
9
Internal diagnostic tests
To ensure safety the hard- and software of the safety sensor is continue checked. When a failure is detected, an
emergency message is sent. After sending this message, the device goes to a safe state, in which no
communication is possible (No SRDO, TPDO and Heartbeat). In this state, a NMT reset will not restart the sensor.
Failure should be analyzed by reading out the emergency message. If the error can be fixed, give the sensor a
new power cycle will restart the communication. If it is a 'sensor element error (redundancy error), you
might consider to update 'redundancy compare time' and/or 'redundancy compare angle. If the error cannot be
fixed, please contact your distributor.
The receiving application should detect that no communication is possible and shall set the system to a safe
state.
Table 2: Emergency code
CAN Connection Object ID: 080h+NODE_ID (emergency message)
Byte number
Type
Description
01h and 00h
U16
Error-code:
0000h:
FF00h:
02h
U8
Error-register:
00h:
01h:
04h and 03h
U8
Diagnose error CAN stack:
0000h:
0001h:
0002h:
0004h:
0008h:
0010h:
0020h:
0040h:
0080h:
0100h:
0200h:
0400h:
0800h:
1000h:
2000h:
4001h:
8000h:
-multiple errors can be indicated (bitwise OR-ed) simultaneously.
-when an overvoltage occur the device stays permanent in safe state
05h
reserved
06h
Diagnose error
00h
Start CRC calculation ROM
01h
Check register
02h
Check stack
03h
Check addressing part unit 1
04h
Check addressing part unit 2
05h
Check conditional jumps
06h
Check opcode
07h
Check CRC for SRDO's
09h
Check time stamp
no error
CAN Open device specific error code
no error
error register object 1001h
No error
Reset state
Can driver has to be reset
Safety cycle is ready
reserved
Timeout by watchdog diagnose
Overvoltage
Unknown interrupt occurs
CSC stack has entered safety stop
Initialization error
Can error
CAN NMT state error
Diagnose error
Safety cycle error
SRDO error
RAM error
Unknown error
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