Diagnostics and Troubleshooting
76
NHA80945 04/2017
Last CANopen Detected Error
The [Error code] ErCO parameter (index/subindex 201E hex/39) indicates the last active CANopen
detected error and maintains its value until the last detected error has been cleared.
This parameter is accessible:
in the [Display] MOn- → [Communication map] CMM- → [CANopen map] CnM- menu
in the [Communication] COM → [Comm Parameters] CMP →[CANopen] CnO- menu.
The possible values are listed below:
PDO Value Display
The value of parameters mapped in PDOs can be displayed using [PDO1 image] PO1-, [PDO2 image]
PO2- and [PDO3 image] PO3- submenus.
These submenus are available in [Display] Mon → [Communication map] CMM → [CANopen map]
CnM- menu.
The following figure shows the content of [PDO1 image] PO1- submenu:
NOTE: In each of these screens and for each PDO transmitted or received, only the [Transmit PDOo-o] or
[Received PDOo-o] words transmitted and received on the CANopen bus are displayed. This means, for
example, PDO2 containing only 4 data bytes (that is, RP21 and RP22), the fields [Received PDO2-3] and
[Received PDO2-4] are not displayed.
Display Description
[0] No errors detected since the start of CANopen communication.
[1] Bus off or CAN overrun.
[2] Node guarding error requiring a return to the NMT initialization state.
[3] CAN overrun (possible alternative values: 32, 64 or 128).
[4] Heartbeat error requiring a return to the NMT initialization state.
[5] NMT state chart error
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