Festo CTEU-CO, Manual, Functions And Maintenance

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2. Diagnosis
2-9
Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH
2.3 Diagnostics via fieldbus
2.3.1 Diagnostics via SDO
The master controller can query diagnostic information via
SDO access on the bus node. The corresponding SDOs can be
found in the object directory in section A.2.
2.3.2 The Emergency Message
If an error occurs the bus node can send an emergency
message with a defined structure (see Tab. 2/6) when the
“diagnostics” DIL switch is activated (see section 2.1). The
following sections describe the components of the emergency
message and the error causes (see Tab. 2/9).
Note
As a prerequisite Node guarding or Heartbeat must be
activated on the master controller.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Error code Error Re-
gister Device 1 Device 2 Reserved
Dia-
gnostics
byte 1 Dia-
gnostics
byte 2 Dia-
gnostics
byte 1 Dia-
gnostics
byte 2
Obj. 1001 Obj. 1002
Manufacturer status register
CANopen standard Manufacturer specific error field
Tab. 2/6: Composition of the Emergency Message Object