Master Diagnostics for CPUs 20102/ 20302

At a Glance

The CANopen bus master can be diagnosed:

at module level,
at channel level.

Module Diagnostics

The Module diagnostics screen displays current errors classed according to their category:

Internal,
External,
Other.

Channel Diagnostics

The Channel diagnostics screen displays current anomalies classed according to their category:

External,
Other.

The table below presents the possible anomalies of a CANopen function:

Error type	Error	Language object
External	The CANopen master is not operational.	%MWr.m.c.2.0
External	One or several slaves are not operational.	%MWr.m.c.2.1
Other	Configuration detected error.	%MWr.m.c.2.3
	Overrun of the reception queue low priority.	%IWr.m.c.0.0
	CAN controller overrun.	%IWr.m.c.0.1
	CAN controller disconnected from the bus.	%IWr.m.c.0.2
	CAN controller detected error.	%IWr.m.c.0.3
	The CAN controller is no longer in error state.	%IWr.m.c.0.4
	Overrun of the transmission queue low priority.	%IWr.m.c.0.5
	Overrun of the reception queue high priority.	%IWr.m.c.0.6
	Overrun of the transmission queue high priority.	%IWr.m.c.0.7
	The task cycle time is greater than the CANopen master cycle time.	%IWr.m.c.0.8

Diagnostic Events History

The diagnostics events history is mainly used to analyze the boot up procedure of the CANopen bus. You can clear or refresh the diagnostic: right-click on the box, and select the clear or refresh command in the pop up menu.

The events are displayed on the following 6 columns table :

Error Code	Error Cause	Node ID	Index	Subindex	Additional Information MSB LSB
1	SDO abort by client	Slave Node ID	Index	Subindex	SDO abort code
2	SDO abort by server	Slave Node ID	Index	Subindex	SDO abort code
3	Identity mismatch	Slave Node ID	Index	Subindex	SDO response shows the read ID
4	Error control event	Slave Node ID	0	0	0, 0, 0, 0
5	Device in wrong state	Slave Node ID	0	0	0, 0, actual_state, exp_state
6	COMMstatus event	0	0	0	0, 0, 0, COMMstatus
7	A module usues the Node ID of the CANopen manager	Manager Node ID	0	0	0, 0, 0, 0
8	Unexpected present device	Slave Node ID	0	0	0, 0, 0, 0
9	Unexpected bootup message	Slave Node ID	0	0	0, 0, 0, 0
10	Received PDO with wrong length	0	0	0	COB-ID of RPDO
11	Manager is the only device on network	0	0	0	0, 0, 0, 0
from 12 to 127	Reserved
from 128 to 255	Reserved for internal detected errors	Any debug information

Bus Load

The bus load panel gives information about the load of the bus: current load in real time, maximum and minimum loads. The values can be reset by clicking on the button Reset Bus Load

The following table shows the language objects associated to this function:

Function	Request	Language Object
Bus Load	Read_IW	%IW0.0.2.63
		%IW0.0.2.62
		%IW0.0.2.64
	Write QW	%QW0.0.2.0.4

Bus Quality

The Bus Quality panel provides information from counters about the frames: received, transmitted, current with anomalies, maximum and minimum with anomalies in percent of the entire trafic. The values can be reset by clicking on the button Reset Counter.

The following table shows the language objects assoicated to this function:

Function	Request	Langauge Objects
Bus Quality	Read_IW	%ID0.0.2.66
		%ID0.0.2.68
		%IW0.0.2.70
		%IW0.0.2.71
		%IW0.0.2.72
	Write QW	%QW0.0.2.0.3