Diagnostic Information - Aventics CANopen Instrucciones De Servicio

Table 44: Behavior of the bus coupler in the case of an error
Error case Comments
BUS OFF CAN controller is in the "bus off" state,
which means that the "transmit error
counter" of the CAN controller has exceeded
the limit of 256.
Missing PDO Missing receiving PDO for cyclically
(SYNC mode) synchronous operation
Guarding Node guard monitoring time has run out.
failure Only occurs when node guarding has been
activated by the CAN master.
Number of diagnostic
entries
Diagnostic status
Diagnostic data
AVENTICS | CANopen | R412005742–BDL–001–AD
Table 45: Reaction of the bus coupler to NMT service (no error)
NMT service
NMT_
RESET_NODE
NMT_
RESET_COM
NMT_
STOP
NMT_
PRE-OPERATIONAL
13.7.3

Diagnostic information

Diagnostic information can be read via the index 2020 of the OD.
The bus coupler provides 1 byte for diagnosis.
Index 2020 Subindex 0 contains the length of the diagnostic
data.
Length = 1, if diagnosis is active
W
Length = 0, if diagnosis is not active
W
Index 2020 Subindex 1 contains the diagnostic status.
00hex, no diagnosis is active
W
01hex, diagnosis is available
W
Index 2020 Subindex 2 allows the diagnosis bytes of the bus
coupler to be read out. These are coded in a byte as in Tab. 46.
Module
Outputs
status
According to According to
MCR bit 0 MCR bit 2, 1
According to According to
MCR bit 0 MCR bit 2, 1
According to According to
MCR bit 0 MCR bit 2, 1
Module status Outputs
Pre-operational All outputs
deleted
Pre-operational According to
MCR bit 2,1
Pre-operational According to
MCR bit 2,1
Pre-operational According to
MCR bit 2,1
157
Appendix
EMCY
reaction
According to
MCR bit 3
According to
MCR
Bit 3
According to
MCR bit 3
Reaction
No EMCY
No EMCY
No EMCY
No EMCY