viii
10.3.3 The Predefined Connection Set .................................................... 10-18
10.4 Sending SDO, NMT and Reading Emergency Message through
the Ladder Diagram ................................................................ 10-20
10.4.1 Data Structure of SDO Request Message ....................................... 10-20
10.4.2 Data Structure of NMT Message ................................................... 10-23
10.4.3 Data Structure of EMERGENCY Request Message ............................ 10-24
10.4.4 Example of Sending SDO through the Ladder Diagram .................... 10-26
10.5 Troubleshooting ............................................................................ 10-28
10.5.1 CANopen Network Node State Display .......................................... 10-28
10.6 Application Example ...................................................................... 10-31
10.7 Object Dictionary ........................................................................... 10-39
Cha
pter 11 CPU Module Operating Principles
11.1 CPU Module Operations ................................................................... 11-2
11.1.1 Procedure ................................................................................... 11-2
11.1.2 I/O Refreshing and Communication Service ..................................... 11-3
11.2 CPU Module Operating Modes .......................................................... 11-3
11.2.1 Operating Modes ......................................................................... 11-3
11.2.2 Status and Operation under Different Operating Modes ..................... 11-4
Cha
pter 12 Troubleshooting
12.1 Troubleshooting .............................................................................. 12-3
12.1.1 Basic troubleshooting steps ........................................................... 12-3
12.1.2 Clear the Error States .................................................................. 12-3
12.1.3 Troubleshooting SOP .................................................................... 12-4
12.1.4 Viewing System Log and Error Step ................................................ 12-5
12.2 Troubleshooting for CPU Modules .................................................... 12-7
12.2.1 ERROR LED Indicators Are ON ....................................................... 12-7
12.2.2 ERROR LED Indicators Blinking Every 0.5 Seconds ............................ 12-7
12.2.3 ERROR LED Indicators Blinking Rapidly Every 0.2 Seconds................. 12-9
12.2.4 ERROR LED Indicators Slow Blinking Every 3 Seconds and Lighting up for
1 Second .................................................................................... 12-9
12.2.5 BAT. LOW LED Indicators Are ON ................................................... 12-9
12.2.6 BAT. LOW LED Indicators Blinking Every 0.5 Seconds ....................... 12-9
12.2.7 The LED RUN and ERROR Indicators are Blinking Simultaneously Every
0.5 Seconds .............................................................................. 12-10
12.2.8 The
RUN and LED Indicators are Blinking One After Another Every
0.5 Seconds. ............................................................................. 12-10
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