Wieland samos PRO COMPACT - Page 162

CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
162
Reading the current error from SDO 3100:
PLC requests:
CAN-ID
DLC
DATA
60C
8
40
00
31
0F
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
0F: Subindex 0F = Module to position 12 (module position = subindex - 1
(see also table
"Content of SDO 3100" [ch. 10.10, p. 153] )
Gateway response:
CAN-ID
DLC
DATA
58C
8
42
00
31
0F
FF
FF
FE
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
FE: Error byte M4, bit 0 = 0: two-channel evaluation of inputs 1–2: Error detected
(See Table "CANopen Emergency Messages" [ch. 10.6, p. 140] )
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
00
00
01
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
01: Module status bit 8 (bit 0 of byte M4) = 0: two-channel evaluation of inputs 1–2:
error detected