Wieland samos PRO COMPACT - Canopen Diagnostic Examples

CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
160
CANopen diagnostic examples
910846859
Example 1: Secure IO module in position 1, output Q4 has a short-circuit to high
The gateway sends am Emergency message (see Table "
CANopen Emergency Messages [ch.
10.6, p. 140] ").
CAN-ID
DLC
DATA
08C
8
03
FF
01
03
40
00
00
00
The CANopen address of the gateway is 12 (= C Hex). The secure IO module has position 1 in
the samosPRO system.
08C:
Identifier (80 + C)
8:
Data length code: This is followed by 8 bytes
03FF:
Error code FF03: Device-specific error
01:
Error register 01 of SDO 1001H
03:
Module index M1: Module in position 1
40: Module state bit 30 (bit 6 of byte M2) = 1: Short-circuit to high at output 4 (see
Table "CANopen Emergency Messages" [ch. 10.6, p. 140] )
Reading the current error from SDO 3100:
PLC requests:
CAN-ID
DLC
DATA
60C
8
40
00
31
04
00
00
00
00
60C:
Identifier (600 + C)
8:
Data length code: This is followed by 8 bytes
40:
Expedited upload requirement
00 31:
Index 3100
04: Subindex: Module to Position 1
(see table "Content of SDO 3100" [ch. 10.10, p. 153] )
Gateway response:
CAN-ID
DLC
DATA
58C 8 42 00 31 04 BF FF FF FB
58C:
Identifier (580 + C)
8:
Data length code: This is followed by 8 bytes
42:
Upload response, size of data set is not shown
00 31:
Index 3100
04: Subindex: Module to Position 1
(see table "Content of SDO 3100" [ch. 10.10, p. 153] )
FB:
Error byte M5, Bit 2 = 0: external error
BF:
Error byte M2, Bit 30 = 0. Error: Short-circuit after high at output 4
10.13