DIAG_CXM Object

Overview

Diagnostic of the CANopen bus activity can be done via explicit message using the CXM_DIAG object.

The diagnostic object presents the instances, attributes, and services described below.

Class ID

302 hex

Instance IDs

The diagnostic object presents two instance values:

0: class
1: instance

Attributes

The diagnostic object presents the following attributes.

Instance ID = 0 (class attributes):

Attribute ID (hex)	Type	Description
01	WORD	Version high
02	WORD	Version low
03	WORD	Number of instance

Instance ID = 1 (instance attributes):

Attribute ID (hex)	Type	Description
01	DWORD	Total number of bytes received.
02	DWORD	Number of frames received since the beginning.
03	DWORD	Total number of bytes Transmitted.
04	DWORD	Number of Frames Transmitted since the beginning.
05	DWORD	Reception buffer overrun counter: minimum number of frames lost
06	DWORD	CAN transmission or reception detected error counter. (include all detected error described in error flag of the CAN2.0B protocol)
07	DWORD	Minimum bus load in %
08	DWORD	Current bus load in %
09	DWORD	Maximum bus load in %
0A	DWORD	Rate of transmission (Kbits/s).
0B	DWORD	CAN controller Bus Off status counter.
0C	DWORD	0 is no bus off 1 is Bus off
0D	DWORD	Identification number for the SYNC synchronization object.
0E	DWORD	Period Sync ID object.
0F	DWORD	Current number of found error frames in % for last 10000 exchanged frames
10	DWORD	Maximum number of found error frames in %
11	DWORD	Minimum number of error found frames in %
12	DWORD	Generic detected error count: Number of received emergency messages with code 10xx hex
13	DWORD	Device hardware detected error count: Number of received emergency messages with code 50xx hex
14	DWORD	Device software detected error count: Number of received emergency messages with code 60xx hex
15	DWORD	Communication detected error count: Number of received emergency messages with code 81xx hex
16	DWORD	Protocol detected error count: Number of received emergency messages with code 82xx hex
17	DWORD	External detected error count: Number of received emergency messages with code 90xx hex
18	DWORD	Device-specific: Number of received emergency messages with code FFxx hex
19	DWORD	Maximum number of TPDOs to transmit during one cycle
1A	DWORD	Highest used Node ID
1B	DWORD	Number of used RxPDOs
1C	DWORD	Number of used TxPDOs
1D	DWORD	Total number of variables in the input process image.
1F	DWORD	Total number of variables in the output process image.

Service Supported

The CXM_DIAG object performs the following services upon the listed object types:

Service ID (hex)	Service Name	Class	Instance
01	Get_Attributes_All	X	X
05	RESET	–	X