CIFx0-CAN: Box Diagnosis

The CANopen fieldbus card CIFx0-CAN has a comprehensive range of diagnostic options for connected network nodes.

CIFx0-CAN: Box Diagnosis 1:

For each CANopen fieldbus node there is a box 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

CIFx0-CAN: Box Diagnosis 2:

DataExchange

This bit indicates whether the node is currently exchanging data. Nodes can only be monitored if their guarding protocol has been activated.

CANopen Emergency Object

Some CANopen status data and up to 5 emergency objects received from a node can be read from any TwinCAT program via ADS and/or signaled to any TwinCAT program. In this case, set ADS parameters as follows:

Port: 300

IndexGroup: 0x5000 + Device-ID

IndexOffset: Hi-Word: Node-ID, Lo-Word: 0x100

Length: 8 - 48

The diagnostic data is structured as follows:

Offset: 0: Nodestatus bits

Bit 7: Node is deactivated

Bit 3: Guarding protocol is active

Bit 2: parameterisation error

Bit 1: Emergency buffer overflow

Bit 0: Mode does not respond

Offset: 1,2: Node type (Index 0x1000)

Offset: 3,4: Profile Number

Offset: 5: Node State

1: Disconnecting

2: Connecting

3: Preparing

4: Prepared

5: Operational

127: Pre-Operational

Offset: 6: Current Error

30: Guarding malfunction

31: Node has changed status

32: Sequence error in guarding protocol

33: No answer from remote frame PDO

34: No answer during a node configuration

35: Incompatible node profile number

36: Incompatible node device type number

37: Unknown SDO response received

38: SDO syntax error

39: Node in STOP mode

Offset: 7: Number of Emergency Messages

Offset: 8-47: Emergency buffer (-> node description)

The data contain the status. The emergency buffer contains the last emergency messages received. The node status bits are collated in the box state diagnostic input.