
3 Basics | IL•1F CANopen DS301 |
Handling of errors If the master toggles bit 7 (MT), this is interpreted by the slave as a re- quest to start an operating mode or to change data of the current oper- ating mode. If the request cannot be processed, the active operating mode is not changed and the slave sets bit 6 in modeStat (ME = ModeError).
The active operating mode is not changed and there is no state transi- tion.
Bit 6 (ME) remains set until the master toggles bit 7 (MT) in modeCtrl again, thus triggering a new command.
The master can read the corresponding error code by a read access to parameter ModeError.
Possible reasons for a failure of the operating mode request:
•Reference values outside the value range
•Change of the operating mode during processing (impossible)
•Invalid operating mode requested
•The device is not in state 6 (Operation Enable) of the state machine.
For more information see the product manual.
0198441113586, V2.01, 11.2008
42 | Fieldbus interface |