Error handling and diagnostics
FC5101 and FC5102
64
Version: 2.0
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 read access, if IndexGroup 0xF181 (instead of 0xF180) is used for reading.
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, Bits 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 signaling PRE-OPERATIONAL
4. Event timer timed out for one TX PDO
5. No response during guarding
6. Toggling missed several times during guarding
Bits 5-15:
Associated COB ID
Offset 6:
Bits 0-7:
1. Incorrect value during SDO upload
2. Incorrect length during SDO upload
3. Abort during SDO up/download
4. Incorrect date during a boot-up message
5. Timeout while waiting for a boot-up message
Offset 7:
Bits 0-7:
2: Incorrect SDO command specifier
3: SDO toggle bit has not changed
4: SDO length too great
5: SDO-Abort
6: SDO-Timeout
Offset 8,9
Bits 0-7:
SDO up/download index
Offset 10:
Bits 0-7:
SDO up/download subindex
Offset 11:
Bits 0-7:
reserved
Offset 12:
Bits 0-7:
Abort errorClass
Offset 13:
Bits 0-7:
Abort errorCode
Offset 14,15:
Bits 0-15:
Abort additionalCode
Offset 16-19:
Read value (if offset 6 = 1)
Offset 20-23:
Expected value (if offset 6 = 1)
Offset 24-25:
Number of consecutive emergencies
Offset 26 - n:
Emergencies (8 bytes each)
