BECKHOFF FC5101 - Manual (Page 64)

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match at StartUp and/or additional info do not agree with object 0x1000). Can also occur if the
value to be written (e.g. PDO COB-ID) is read back due to refusal of write
access, and does not agree. See the "Diag" tab for details.
8 = 0x08 Node StartUp in
progress Node was found and has been started.
11 =
0x0B FC510x Bus-OFF CAN chip has entered the "Bus-OFF" state: transmit error counter is running
12 =
0x0C Pre-Operational Node has gone pre-operational (on its own account).
13 =
0x0D Severe bus fault General firmware error.
14 =
0x0E Guarding: toggle
error Guarding error: Toggle bit has not changed.
20 =
0x14 TxPDO too short Received TxPDO shorter than expected.
22 =
0x16 Expected TxPDO
is missing TxPDO has not been received within the expected time interval:
- sync interval with synchronous TxPDOs,
- event timer with event-driven PDOs).
23 =
0x17 Node is Opera-
tional but not all
TxPDOs were
received Node has been started, but at least one TxPDO has not yet been received
from the node. Possible causes (examples):
- The node only sends event-driven PDOs after the first event (this is not the
intention of the CANopen specification, but is quite usual).
- Too many TxPDOs have been configured.
- A TxPDO is present at the node, but no process data has been mapped.
- The TxPDO has transmission type 1...120 (synchronous), but SYNC has
not yet been sent because the associated task has not been started.
DiagFlag:
Shows whether the box diagnostic information has changed.
Reading the Diagnostic Data via ADS
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 DiagFlag is
reset as soon as at least 108 bytes have been read starting from offset 0. Alternatively, the flag is reset after
each of read access, if IndexGroup 0xF181 (instead of 0xF180) is used for the read.
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
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