Error Telegrams: Emergency - Beckhoff FC5101 Documentation

Error handling and diagnostics
General Diag
Fig. 50: "General Diag" tab
The minimum and maximum bus load are also displayed on the General Diag tab in addition to the current
bus load, as are the cycle time and the Failed Cycle Counter. In the example illustrated above, about 5000
CAN frames are handled each second, and a corresponding number of PDOs are sent. Because the
firmware sends all the pending PDOs in each cycle, the firmware cycle time in this case primarily depends on
the time required to transmit the PDOs.
6.4

Error telegrams: Emergency

The CANopen FC510x fieldbus card stores arriving emergency messages in the diagnostic area starting at
offset 26 (see below). Up to 10 emergencies can be stored for each bus node. The oldest message is
replaced if more emergencies than this arrive.
New diagnostic data (emergencies or other diagnostic data) is present as soon as the DiagFlag is set.
Fig. 51: Node State
CANopen emergencies and other diagnostic data can be read via ADS. You need to enter the FC510x ADS
Net-ID. Further ADS parameters:
Port: 200
IndexGroup: Lo-Word = 0xF180, Hi-Word = Node-Number.
IndexOffset: See below
Length: See below
66 Version: 2.0 FC5101 and FC5102