Troubleshooting; Canopen Network Node State Display - Delta AS Series Operation Manual

AS S e r i e s O p e r a t i o n M a n u a l
6. The Structure of the Response Message Devices:
PLC device
SDO
response
message
mapping
area
10.5

10.5.1 CANopen Network Node State Display

1. In the AS Series PLC, while you enable the CANopen function, it uses SR825–893 as the special
registers as shown in the following table.
Special register
2. As a master, the AS series PLC supports a maximum of 64 slaves ranging from node 1 to node 64. You
can use SR826–829 to monitor the state of the nodes in the network. The 16 bits in SR826 correspond
to 16 slaves and their corresponding relations are shown in the following table.
Bit
Node
Bit
Node
When the node in the master node list is normal, the corresponding bit is OFF; when the node in the
master node list is abnormal (for example, initializing fails or the slave is offline for some reason), the
corresponding bit is ON.
3. The error code of every node is displayed through the corresponding special register (SR830–893) and
the relations between special register and corresponding node (1–16) is shown in the following table.
Special
register
_10
Node
1 0 - 2 6
Content
(Hex)
D24000 0101
D24001 0006
D24002 4303
D24003 2009
D24004 0004
D24005 0100

Troubleshooting

SR825 Displays the state of AS300 series PLC.
SR830–SR893 Displays the state of 64 nodes in the network
Flag for the state of the slave 1–16
SR826
Flag for the state of the slave 17–32
SR827
Flag for the state of the slave 33–48
SR828
SR289 Flag for the state of the slave 49–64
SR821 Version of CANopen DS301
SR822 Displays the CANopen baud rate (unit: 1kpps)
b7 b6
Node 8 Node 7
b15 b14
Node16 Node15 Node14
SR830 SR831
Node 1 Node 2 Node 3
Explanation
High byte(Hex)
ResID = 01
Reserved
Type = 43
Main index high byte = 20
Reserved
Datum 1= 01
Function
b5 b4 b3
Node 6 Node 5 Node 4
b13 b12 b11
Node13 Node12
SR832 SR833 SR834
Node 4 Node 5
Low byte(Hex)
Status code = 01
Size = 08
Node ID = 03
Index low byte = 09
Subindex = 00
Datum 0= 00
b2 b1 b0
Node 3 Node 2 Node 1
b10 b9 b8
Node11 Node10 Node 9
SR835 SR836 SR837
Node 6 Node 7 Node 8