Am Freitag, 13. Mai 2011, 12:16:45 schrieb Wolfgang Grandegger: > >> The error is definitely reported by the CAN controller and therefore > >> it's due to an electrical problem on the CAN bus. Well, I'm not a CAN > >> hardware expert and therefore I can't tell if such error do harm or > >> can even be ignored. Googling for "can arbiration lost" revealed: > >> > >> > >> http://www.cancapture.com/knowledgebase/18-cancaptureknowledgebase/33-kb > >> -arbitration-lost-error-messages.html > >> > >> which seem to answer you question to some extend. > > > > > > > > Thanks, your are really better than me in googleling > > Does that document explain your problems? I mean, do you have more than > one node sending CAN messages? > > > Is there a mean to disable this error un socketCan ? > > No, but it will only be delivered to user-space sockets on request (via > setsockopt ...). > > Wolfgang.
The reference link sent by Wolfgang explains this "error" very well. The controller only reports that it has lost the arbitration against a higher priority CAN frame. I would not say its an error. In CANopen this will happen in such situations as described by Willy. After the CANopen devices have seen the SYNC Frame on the bus, they will sent out there synchronous PDOs nearly immediately, all at the very same time. Regarding to the CAN protocol the arbitration process starts in order to let pass the highest priority frame, that is the lowest CAN Id. All other PDOs, having CAN frames with a higher Id, will start the next arbitration process after the first one was successfully transmitted. And so on a long as there are CAN frames that has to be sent. Regards Heinz
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