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Chapter
6
Operating Instructions
Flexi Soft Gateways
156
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
8012664/XB29/2013-06-11
Subject to change without notice
Fieldbus gateways
Module specific
alarms
Error code
Transition
emergency
state chart
Emergency error code
Error register
M1…M5
Error
history
SDO 1003
Gateway detected
incoming error as per
trigger conditions
–
1
FF01h
81h
M1 = Module index
M2…M5 = Module
diagnostics data
M2, M3, M4,
M5
See Tab. 105.
Gateway detected
outgoing error, other
errors are present
–
2
FF02h
81h
M1 = Module index
M2…M5 = Module
diagnostics data
M2, M3, M4,
M5
See Tab. 105.
Gateway detected
incoming error, other
errors are present
–
3
FF03h
81h
M1 = Module index
M2…M5 = Module
diagnostics data
M2, M3, M4,
M5
See Tab. 105.
All errors cleared
–
4
0000h
00h
M1 = 0
M2…M5 = 0
–
Tab. 131: Error objects overview
6.2.13
CANopen diagnostics examples
Example 1: XTIO module on position 1, output Q4 stuck at high
The gateway sends an emergency message (see Tab. 104).
CAN ID
DLC DATA
08C
8
03 FF 01 01 40 00 00 00
The gateway’s CANopen address is 12 (= C hex). The XTIO module has the position 1 in the
Flexi Soft system.
08C:
Identifier (80 + C)
8:
Data length code: 8 bytes follow.
03FF: Error code FF03: device specific error
01:
Error register 01 of SDO 1001H
01:
Module index M1: module in position 1
40:
Module status bit 30 (bit 6 of byte M2) = 1: output 4 stuck at high (see Tab. 105)
Reading the current error from SDO 3100:
PLC request:
CAN ID
DLC DATA
60C
8
40 00 31 02 00 00 00 00
60C:
Identifier (600 + C)
8:
Data length code: 8 bytes follow.
40:
Expedited upload request
00 31: Index 3100
02:
Subindex 02: module in position 1 (see Tab. 125)