Beckhoff CX1500-B310, Manual, Page: 172 / 182

Error handling and diagnostics
CX1500-M510, CX1500-B510 172 Version: 1.0
Fig. CANopen diagnostics byte in the System Manager
Requirements
Error number Description Remedy
0 No error -
2 Guarding Error Check your connection
20 Too less PDOs received (only
TwinCAT Config.) Check your configuration
22 Sync Error Check your connection
129 Node is pre-operational Start operational mode
130 Node is stopped Start the node
Example
If CANopen is interrupted (e. g. because the cable is pulled of or the PLC is switched of), the BX5100 reports
this with ??? in NodeState.
5.4 Trouble Shooting
Error Frames
One sign of errors in the CAN wiring, the address assignment or the setting of the baud rate is an increased
number of error frames: the diagnostic LEDs then show
Warning Limit exceeded or Bus-off state entered .
NOTE
Warning limit exceeded, passive error or bus-off state are indicated first of all at those nodes that have de-
tected the most errors. These nodes are not necessarily the cause for the occurrence of error frames! If, for
instance, one node contributes unusually heavily to the bus traffic (perhaps because it is the only one with
analog inputs, the data for which triggers event-driven PDOs at a high rate), then the probability of its tele-
grams being damaged increases. Its error counter will, correspondingly, be the first to reach a critical level.
Node ID / Setting the Baud Rate
Care must be taken to ensure that node addresses are not assigned twice: there may only be one sender for
each CAN data telegram.
Test 1
Check node addresses. If the CAN communication functions at least some of the time, and if all the devices
support the boot up message, then the address assignment can also be examined by recording the boot up
messages after the devices are switched on. This will not, however, recognize node addresses that have
been swapped.