Diagnostics

CANopen state

In many cases it is important to know whether the communication with the higher-level master is still OK. To this end, link the "NodeState" variable with your PLC program. A TwinCAT configuration is necessary for this.

systemmanager_bx_diag_can

Fig. CANopen diagnostics byte in the System Manager

Requirements

Error number	Description	Remedy
0	No error	-
2	Guarding Error	Check your connection
20	Too less PDOs received (only TwinCAT Config.)	Check your configuration
22	Sync Error	Check your connection
129	Node is pre-operational	Start operational mode
130	Node is stopped	Start the node

Example

If CANopen is interrupted (e. g. because the cable is pulled of or the PLC is switched of), the BX5100 reports this with ??? in NodeState.