FC510x: Box Diagnosis
The CANopen fieldbus card FC510x has a comprehensive range of diagnostic options for connected network nodes.
For each CANopen fieldbus node there is a node state input variable, which signals the status of the current slave during the running time and can be linked, for example with the PLC.
Node State
DiagFlag:
Shows whether the box diagnostic information has changed.
CANopen Emergency Messages
CANopen emergencies and other diagnostic data can be read out via ADS read (new data present as soon as you see the DiagFlag). You need to enter the FC510x ADS net ID. Other ADS parameters:
Port: 200
IndexGroup: Lo-Word = 0xF180, Hi-Word = Node-Number.
IndexOffset: See below
Length: See below
If more than 26 bytes of diagnostic data have been read out the emergency memory is reset.
The diagnostic data have the following definitions:
Offset 0,1: | Bit 1: | Boot up message not received or incorrect |
| Bit 2: | Emergency-Overflow |
| Bit 0, Bit 3-15: | reserved |
Offset 2,3: | Bits 0-14: | TX-PDO (i+1) received |
| Bit 15: | All TX PDOs 16-n received |
Offset 4,5: | Bits 0-4: | 1: Incorrect TX PDO length |
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| 2: Synchronous TX PDO absent |
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| 3: Node signalling PRE-OPERATIONAL |
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| 4: Event timer timed out for TX PDO |
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| 5: No response and guarding is activated |
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| 6: Toggling missed several times and guarding activated |
| Bits 5-15: | Associated COB ID |
Offset 6: | Bits 0-7: | 1: Incorrect value during SDO upload |
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| 2: Incorrect length during SDO upload |
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| 3: Abort during SDO up/download |
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| 4: Incorrect date during a boot-up message |
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| 5: Timeout while waiting for a boot-up message |
Offset 7: | Bits 0-7: | 2: Incorrect SDO command specifier |
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| 3: SDO toggle bit has not changed |
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| 4: SDO length too great |
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| 5: SDO-Abort |
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| 6: SDO-Timeout |
Offset 8,9 | Bits 0-7: | SDO up/download index |
Offset 10: | Bits 0-7: | SDO up/download sub-index |
Offset 11: | Bits 0-7: | reserved |
Offset 12: | Bits 0-7: | Abort errorClass |
Offset 13: | Bits 0-7: | Abort errorCode |
Offset 14,15: | Bits 0-15: | Abort additionalCode |
Offset 16-19: |
| Read value (if offset 6 = 1) |
Offset 20-23: |
| Expected value (if offset 6 = 1) |
Offset 24-25: |
| Number of consecutive emergencies |
Offset 26 - n: |
| Emergencies (8 bytes each) |