Reads the state on the master.
Double-click the inserted instruction and the following dialog box appears.
Operand Settings
D1
Specify the variable to store status.
D2
Specify the variable to store event information.
Status
|
Bit |
Description |
Introduction |
|
0 to 7 |
0x00 Initializing |
In the process of initializing. |
|
0x01 Reset request |
Change to reset. |
|
|
0x40 Reset |
Resetting. |
|
|
0x60 Slave checking |
Check slave mapping. |
|
|
0x61 Resetting network |
Reset all the nodes. |
|
|
0x62 Network standby |
Waits for a specified amount of time while the communication command can be reset. |
|
|
0x64 Initializing each slave |
Initialize each slave in the network. |
|
|
0x70 Module defect |
A deficiency exists for the module. |
|
|
0x8x Clearing*1 |
Scan the network. The state in which firmware can be started. |
|
|
0x90 Fatal error |
Fatal error occurred in the network. Firmware will be reset. |
|
|
0xAx Operating*1 |
The network is operating. |
|
|
0xCx Stopped*1 |
The network is stopped. |
|
|
0xEx Preparing for operation*1 |
The network is in pre-operating state. |
|
|
8 |
Queue overrun (RXLP) |
Overrun of receiving queue with low priority*2 has occurred. |
|
9 |
Controller overrun |
CAN controller overrun has occurred. |
|
10 |
Controller bus off |
CAN controller bus off has occurred. |
|
11 |
Controller error occurred |
Error has occurred in CAN controller. |
|
12 |
Controller error recovered |
CAN controller has recovered from error state. |
|
13 |
Queue overrun (TXLP) |
Overrun of sending queue with low priority*2 has occurred. |
|
14 |
Queue overrun (RXHP) |
Overrun of receiving queue with high priority*3 has occurred. |
|
15 |
Queue overrun (TXHP) |
Overrun of sending queue with high priority*3 has occurred. |
*1 The following states are shown according to the state of bottom 4 bits.
Bit 0: Error bit of the optional slave or the slave that is not set.
0:No error
1:Error in 1 or more optional slaves or the slave that is not set.
Bit 1: Error bit of mandatory slave
0:No error
1:Error in 1 or more mandatory slaves
Bit 2: Common action bit
0:No active slaves
1:At least one active slave
Bit 3: Action bit of CANopen master module
0:Not active
1:Active
*2 Queue with low priority is used for heartbeat, node guard and SOD transfer.
*3 Queue with high priority is for messages of TPDO, NMT command, SYNC and EMCY.
Event
|
Bit |
Description |
|
0 |
Network communication error |
|
1 |
Node ID error |
|
2 |
Error controlling event of mandatory slave |
|
3 |
Identification error of mandatory slave or incomplete concise DCF |
|
4 |
Identification error of optional slave |
|
5 to 6 |
Reserved |
|
7 |
Set if there are changes to bits in the bit list. |
|
8 |
Requested feature is unsupported. |
|
9 |
Data byte number of received RxPDO is too small. |
|
10 |
Incomplete concise DCF |
|
11 |
Overrun of application specific SDO queue |
|
12 |
Reserved |
|
13 |
Master alone |
|
14 |
Change the state of the network with NMT command. |
|
15 |
Change the state of the slave with the NMT command. |