Status messages

The CANopen status messages provide additional information and can be used for diagnostic purposes.

Status messages 1:


The following table shows which values the variables can assume:

Inputs

Meaning

CycleInfo

Cycle Counter:
This counter is incremented by one after each cycle.

Error:
Shows the number of boxes, with a non-zero BoxState.

ActualCycle Time:
Reserved for future use

DiagFlag

This variable provides information on changes to the diagnostic data.

  • 0: Data unchanged.
  • 1: Data changed. Use ADS Read to read the data.

GlobalState

This variable provides information on the status of the master.

GlobalState[0]:
0: Device is in RUN status.
1: Device is in RESET status.
2: Device is in OFFLINE status.
3: Device is in STOP status.

GlobalState[1] (FW V02.14 or higher):
Bit 0-7: RxError counter of the CAN controller
Bit 8-15: TxError counter of the CAN controller

GlobalState[2]:
Bit 0: CAN controller is in BUS OFF.
Bit 1: CAN controller warning limit reached.

Bit 2: Rx queue exceeded.
Bit 3: Hi-Prio Tx queue exceeded.
Bit 4: Lo-Prio Tx queue exceeded.
Bit 5: CAN send error (FW V02.14 or higher).
Bit 6-14: Reserved for future use.
Bit 15: Switches with each sent SYNC message.

GlobalState[3]:
Bus load in %.

CycleFailedCounter

This counter is incremented by one whenever the last bus cycle is incomplete at the start of a TwinCAT cycle.

BusLoad

Bus load in %.

InfoData