Communication
In the tree view, input variables are listed under the Inputs menu item, which provide information about a CANopen device.
The NodeState variable can be used to show the state of the CANopen communication, to indicate whether the slave is in data exchange or an error is present.
NodeState
The following table shows which values the variable NodeState can assume:
|
Value |
Meaning |
|---|---|
|
0 |
No error |
|
1 |
Node deactivated |
|
2 |
Node not found |
|
4 |
SDO syntax error at StartUp |
|
5 |
SDO data mismatch at StartUp |
|
8 |
Node StartUp in progress |
|
11 |
FC510x 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 |
|
31 |
only for EtherCAT gateways: WC-State of cyclic EtherCAT frame is 1 |
|
128 |
Node is Operational but not all RxPDOs were received |
|
129 |
Node is Pre-Operational |
|
130 |
Node is Stopped |
DiagFlag
The following table shows which values the variable DiagFlag can assume. This variable provides information on changes to the diagnostic data.
|
Value |
Meaning |
|---|---|
|
0 |
Data unchanged. |
|
1 |
Data changed. Use ADS Read to read the data. |
EmergencyCounter
The EmergencyCounter variable is incremented by one if an emergency telegram was received.
|
Input parameters |
Description |
|---|---|
|
NETID |
NetId of the CAN interface |
|
Port number |
200 |
|
IDXGRP |
16#xxxxF180 (xxxx) Node-Id, the Diag flag is only reset when reading at least 106 bytes |
|
IDXOFFS |
Byte Offset |
|
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 missing | ||
|
3: Node signaling PRE-OPERATIONAL | ||
|
4: Event timer expired for a TX PDO | ||
|
5: no response during guarding | ||
|
6: toggling missed several times during guarding | ||
|
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 |
Abort errorClass |
|
13 |
Bit 0 - 7 |
Abort errorCode |
|
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) |