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42 Fieldbus interface
3 Basics IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
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.