Error handling and diagnostics
CXxxxx-M510/B510
75
Version: 1.0
6.3
Communication
In the tree view, input variables are listed under the
Inputs
menu item, which provide information about a
CANopen device.
The NodeState variable can be used to show the state of the CANopen communication, to indicate whether
the slave is in data exchange or an error is present.
The following table shows which values the variable
NodeState
can assume:
Value
Meaning
0
No error
1
Node deactivated
2
Node not found
4
SDO syntax error at StartUp
5
SDO data mismatch at StartUp
8
Node StartUp in progress
11
FC510x Bus-OFF
12
Pre-Operational
13
Severe bus fault
14
Guarding: toggle error
20
TxPDO too short
22
Expected TxPDO is missing
23
Node is Operational but not all TxPDOs were received
31
only for EtherCAT gateways: WC-State of cyclic
EtherCAT frame is 1
128
Node is Operational but not all RxPDOs were received
129
Node is Pre-Operational
130
Node is Stopped
The following table shows which values the variable
DiagFlag
can assume. This variable provides
information on changes to the diagnostic data.
Value
Meaning
0
Data unchanged.
1
Data changed. Use ADS Read to read the data.
The
EmergencyCounter
variable is incremented by one if an emergency telegram was received.
