Wieland samos PRO COMPACT - Page 161

CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
161
Reading of error from the error history in SDO 1003:
PLC requests:
CAN-ID
DLC
DATA
60C
8
40
03
10
01
00
00
00
00
60C: Identifier (600 + C)
8: Data length code: This is followed by 8 bytes
40: Expedited upload requirement
03 10: Index 1003
01: Sub-index: last error
Gateway response:
CAN-ID
DLC
DATA
58C
8
42
03
10
01
40
00
00
00
58C: Identifier (580 + C)
8:
Data length code: This is followed by 8 bytes
42:
Upload response, size of data set is not shown
03 10:
Index 1003
01:
Sub-index: last error
40:
Module state bit 30 (bit 6 of byte M2) = 0: Short-circuit after high at output 4
Example 2: Secure I/O module with error at two-channel input I1/I2
The gateway sends am Emergency message (see
Table “Emergency Messages [ch. 10.6, p.
140] ").
CAN-ID
DLC
DATA
08C 8 03 FF 01 0E 00 00 01 00
The CANopen address of the gateway is 12 (= C Hex). The SP-SDI module has position 12 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
0E:
Module index M1: Module in position 12 (E Hex)
01: Module status bit 8 (bit 0 of byte M4) = 1: two-channel evaluation of inputs 1–2:
Error detected (see Table "CANopen Emergency Messages" [ch. 10.6, p. 140] )