CANopen Diagnosis The chapter describes the diagnosis options offered by the CANopen protocol. CANopen State A CANopen network consists of a NMT master (network management) and NMT slaves. In this cas
Diagnosis in the Application CANopen State The CANopen state of a device can be interrogated in the application in three different ways: GET_STATE function block ( CAA CiA 405 library) <name in device
Diagnosis in the User Interface CANopen Manager (Master) device tree In online mode, the device tree allows for a pinpointing of a pending diagnosis. Green symbol when the device is OPERATIONAL. Error
Troubleshooting Table 16 . CANopen Manager (Master) Problem Possible Solution The CAN bus node is red or has a red exclamation mark. See the general troubleshooting for the CAN bus. The CANopen Manage
Libraries: CANopen Manager (Master) CAA CiA 405 3S CANopenStack 3S CANopen Safety :
CANopen Local Device (Slave) :
General In CODESYS , a CANopen Local Device is a slave device that you insert in the device tree of a project directly below a CAN bus node. As a result, the CODESYS runtime acts as a CANopen Slave. (
Configuration Tip See the general description for information about the following tabs of the device editor. Tab: <device name> I/O Mapping Tab: <device name> IEC Objects Tab: <device name> Parameters
Tab: CANopen Local Device – General Table 17 . General Node-ID The node number identifies the CANopen Slave as unique (value range: 1...127). Device profile The device profile that is to implement the
Tab: CANopen Local Device – Object Directory This dialog is available only in the device editor of a CANopen device of version V3.5.6.0 or higher. It shows all objects of the object directory and thei