CM578-CN CANOPEN Communication Module Slave View¶
Note
The CANOPEN Slave diagnosis must be enabled explicit by the user every time he opens this view (the enabled state will not be saved). This has the following reason:
Each time when a diagnosis read request is send to a slave who has actual emergency data, the emergency data is automatically acknowledged. Thus a emergency handling Function Block running on PLC will possible miss this emergency data. So enabling this view should only be done when no Function Blocks are used to handle emergency data.
Additional information
These 2 bytes are read out from the node during startup. In the draft CiA specification this word is declared as extended information of the node type. For example in this word is fixed if the node supports digital input or outputs etc.
Profile number
These 2 bytes are read out from the node during startup. There are existing several predefined profile numbers each described in an own specification manual. Here is an extract of these:
| Device Profile for I/O modules | 401 dec. |
| Device Profile for Drives and Motion Control | 402 dec. |
| Device Profile for Encode | 406 dec. |
Node state
If the node guarding protocol is active for this node, the read out node status register is written into this variable. The following value are defined in the CANOPEN specification:
| Status Value | Description |
|---|---|
| 1 | Disconnected |
| 2 | Connecting |
| 3 | Preparing |
| 4 | Prepared |
| 5 | Operational |
| 127 | Pre-operational |
Current online error
In this byte the actual online error of this node station is held down. See the following table for possible entries.
| Status Value | Description |
|---|---|
| 0 | No Error |
| 30 | Guarding failed -> check if node is connected |
| 31 | Node has change his state and is not longer operational -> reset node |
| 32 | Sequence error in guarding protocol -> reset node |
| 33 | No response to a configured remote frame PDO-> check if node is able to handle remote frames |
| 34 | No response of the node during its configuration-> check if node is connected and operational |
| 35 | The master configured node profile number is different from the Node profile number -> check the supported profile number of the Node: I/O, encoder, etc. |
| 36 | The master configured node device type is different from the Node device type -> check the supported services of the Node. |
| 37 | Unknown SDO response received -> Node not compatible to CiA protocol specification |
| 38 | Length indicator of received SDO message unequal 8 -> node not compatible to CiA protocol specification |
| 39 | Node not handled, Node in stop -> activated Auto_Clear mode or host not ready |
| 52 | Unknown handshake mode was configured |
| 56 | Baud rate out of range |
| 60 | Double node address was configured |
| 220 | HOST-watchdog error -> check user program or watchdog time |
| 210 | No database |
| 212 | Faulty reading of a data base -> execute download of data base again |