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 |
Bus-OFF |
|
12 |
Pre-Operational |
|
13 |
Servere 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 200
Reading of emergency telegrams with AdsRead
|
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 at least 106 bytes are read |
|
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 absent | ||
|
3: Node signalling 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 sub-index |
|
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) |