BUDE_Manual-CANopen_EN.doc
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Baumer Hübner GmbH
23.10.2012/bja
Berlin, Germany
4
Diagnosis and useful information
4.1
Error diagnosis field bus communication
•
If the encoder/converter cannot be addressed via the CANopen bus, first of all check the terminals.
If the terminals are not in order, field bus operation should be tested next. For this purpose, a CAN
monitor is required which records CANopen communication and shows the telegrams.
•
The encoder/converter should now place a BootUp message when switching the power supply off and on
again.
Should no BootUp message appear, check whether the baud rates of the encoder, the CAN monitor and
the bus system are in agreement.
•
If you have difficulty in establishing the connection to the user, check the node number and baud rate.
The baud rate must be set the same throughout. The node number (node ID, node address) must be
between 1 and 127. Each bus user must be unambiguously assigned a node ID, i.e. it is strictly prohibited
to assign the same node ID more than once.
The node ID and baud rate can also be set conveniently using the LSS service.
4.2
Error diagnosis via field bus
The encoder/converter has at its disposal several objects and messages which transcribe the status or error
status of the encoder/converter.
•
Object 1001h: This object is an error register for the device error status.
•
Object 1003h: In this object, the last eight error codes and warnings are stored.
•
Object Emergency (80h + Node ID): High-priority error message of a user with error code and error
register.
•
SDO abort message: If SDO communication does not run correctly, the SDO response contains an abort
code.
Object 1001h error register
The existence of a device error and its type are indicated in this register.
See separate Object descriptions
Object 1003h predefined error field
In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the
latest error is stored in subindex 1 and the oldest error in subindex 8.
Object emergency
Error message of a user.
