Beckhoff CX8050, Документация

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
90 Version: 1.4
Special terminals (such as serial interfaces, PWM outputs, incremental encoder inputs) are not considered. A
Coupler that, for example, only has KL6001 serial interface terminals plugged in, thus returns 0x00 00 01 91.
The device type supplies only a rough classification of the device. The terminal identifier register of the Bus
Coupler can be read for detailed identification of the Bus Couplers and the attached terminals (for details see
register communication index 0x4500).
Error register
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1001 0 Error
register Unsigned8 ro N 0x00 Error
register
The 8 bit value is coded as follows:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ManSpec. reserved reserved Comm. reserved reserved reserved Generic
ManSpec. Manufacturer-specific error, specified more precisely in object 1003.
Comm. Communication error (CAN overrun)
Generic An error that is not more precisely specified has occurred (the flag is set at every error message)
Error store
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1003 0x00 Predefined
error field
(Error
store) Unsigned8 rw N 0x00 Object
1003h
contains a
description
of the error
that has
occurred in
the device -
sub-index 0
has the
number of
error states
stored.
1 Actual error Unsigned32 ro N None Last error
state to
have
occurred
... ... ... -- ... ... ...
10 Standard
error field Unsigned32 ro N None A maximum
of 10 error
states are
stored.
The 32 bit value in the error store is divided into two 16 bit fields:
MSB LSB
Additional code Error Code
The additional code contains the error trigger (see emergency object) and thereby a detailed error
description.
New errors are always saved at sub-index 1, all the other sub-indices being appropriately incremented. The
whole error store is cleared by writing a 0 to sub-index 0.