Emergency telegrams and diagnostics
The status of the CAN slave is indicated by NodeState. The DiagFlag is set if an emergency telegram was received. The EmergencyCounter is incremented with each emergency telegram.
NodeState value | Description |
|---|---|
0 | No error |
1 | Node deactivated |
2 | Node not found |
4 | SDO syntax error at Start Up |
5 | SDO data mismatch at Start Up |
8 | Node start up in progress |
11 | SSB Bus off |
12 | Pre-Operational |
13 | Severe bus fault |
14 | Guarding: toggle error |
20 | TxPDO too short |
22 | Expected TxPDO is missing |
23 | Node is Operational but not all TxPDOs were received |
ADS Port 153
Reading of emergency telegrams with AdsRead
|
Input parameters |
Description |
|---|---|
|
NETID |
local NetId of BX |
|
Port number |
153 |
|
IDXGRP |
16#xxxxF180 (xxxx) NodeId, the Diag flag is only reset when at least 106 bytes are read |
|
IDXOFFS |
Byte Offset |
Description of the array
|
Offset |
Bit |
Value / description |
|---|---|---|
|
0 - 1 |
Bit 0 |
reserved |
|
Bit 1 |
Boot up message not received or incorrect | |
|
Bit 2 |
Emergency-Overflow | |
|
Bit 3 - 15 |
reserved | |
|
2 - 3 |
Bit 0 - 14 |
TX-PDO (i+1) received |
|
Bit 15 |
All TX PDOs 16-n received | |
|
4 - 5 |
Bit 0 - 4 |
1: Incorrect TX PDO length |
|
2: Synchronous TX PDO absent | ||
|
3: Node signaling PRE-OPERATIONAL | ||
|
4: Event timer timed out for TX PDO | ||
|
5: No response and guarding is activated | ||
|
6: Toggling missed several times and guarding activated | ||
|
Bit 5 - 15 |
Associated COB ID | |
|
6 |
Bit 0 - 7 |
1: Incorrect value during SDO upload |
|
2: Incorrect length during SDO upload | ||
|
3: Abort during SDO up/download | ||
|
4: Incorrect date during a boot-up message | ||
|
5: Timeout while waiting for a boot-up message | ||
|
7 |
Bit 0 - 7 |
2: Incorrect SDO command specifier |
|
3: SDO toggle bit has not changed | ||
|
4: SDO length too great | ||
|
5: SDO-Abort | ||
|
6: SDO-Timeout | ||
|
8 - 9 |
Bit 0 - 7 |
SDO up/download index |
|
10 |
Bit 0 - 7 |
SDO up/download subindex |
|
11 |
Bit 0 - 7 |
reserved |
|
12 |
Bit 0 - 7 |
errorClass des Aborts |
|
13 |
Bit 0 - 7 |
errorCode des Aborts |
|
14 - 15 |
Bit 0 - 15 |
Abort additionalCode |
|
16 - 19 |
|
Read value (if offset 6 = 1) |
|
20 - 23 |
|
Expected value (if offset 6 = 1) |
|
24 - 25 |
|
Number of consecutive emergencies |
|
26 - n |
|
Emergencies (8 bytes each) |
Download BX (sample file)
Download sample System Manager file BX (sample file)
emergencymessage.prx
emergencymessage.tsm
Reading the number of PDO telegrams with AdsRead
|
Input parameters |
Description |
|---|---|
|
NETID |
local NetId of BX |
|
Port number |
153 |
|
IDXGRP |
16#xxxxF930 (xxxx) NodeId |
|
IDXOFFS |
0 |
Download BX (sample file)
 | Configuration of the node ID required The node ID must be configured before the ADS function blocks is called in the TwinCAT configuration. |
can_counter_pdo.prx
Sending a CAN message
This ADSWRITE command enables any CAN message to be sent.
|
Input parameters |
Description |
|---|---|
|
NETID |
local NetId of BX |
|
Port Nummer |
153 |
|
IDXGRP |
16#0000F921 |
|
IDXOFFS |
0 |
|
LEN |
11 bytes |
|
SRCADDR |
Pointer to an 11 byte ARRAY |
Structure of the 11 byte CAN data
|
Byte |
Description |
Example Node 7 SDO 0x607 |
|---|---|---|
|
1 |
COB-ID LowByte |
0x06 (SDO Low Byte) |
|
2 |
COB-ID HighByte |
0x07 (SDO High Byte) |
|
3 |
LEN (length) |
0x08 (LEN, may be 5 in this case) |
|
4 |
Data[1] |
0x22 (Download Request) |
|
5 |
Data[2] |
0x00 (Index Low Byte) |
|
6 |
Data[3] |
0x21 (Index High Byte) |
|
7 |
Data[4] |
0x01 (Sub Index) |
|
8 |
Data[5] |
0x01 (Value "1") |
|
9 |
Data[6] |
0x00 |
|
10 |
Data[7] |
0x00 |
|
11 |
Data[8] |
0x00 |