El6751 Diagnostics - Beckhoff EL6751 Documentation

Error handling and diagnostics
IndexOffset: See below
Length: See below
If more than 26 bytes of diagnostic data have been read out the emergency memory is reset. The DiagFlag
is reset as soon as at least 108 bytes have been read starting from offset 0. Alternatively, the flag is reset
after each of read access, if IndexGroup 0xF181 (instead of 0xF180) is used for the read.
The diagnostic data have the following definitions:
Offset 0,1: Bit 1:
Bit 2:
Bit 0, Bit 3-15: reserved
Offset 2,3: Bit 0-14:
Bit 15:
Offset 4,5: Bit 0-4:
Bit 5-15:
Offset 6: Bit 0-7:
Offset 7: Bit 0-7:
Offset 8,9 Bit 0-7:
Offset 10: Bit 0-7:
Offset 11: Bit 0-7:
Offset 12: Bit 0-7:
Offset 13: Bit 0-7:
Offset 14,15: Bit 0-15:
Offset 16-19:
Offset 20-23:
Offset 24-25:
Offset 26 - n:
6.3

EL6751 diagnostics

Diagnostic Inputs
The EL6751 has various diagnostic variables that describe the state of the terminal and the CANopen
network:
166
Boot up message not received or incorrect
Emergency-Overflow
TX-PDO (i+1) received
All TX PDOs 16-n received
1: Incorrect TX PDO length
2: Synchronous TX PDO absent
3: Node signaling PRE-OPERATIONAL
4: Event timer timed out for TX PDO
5: No response and guarding is activated
6: Toggling missed several times and guarding activated
Associated COB ID
1: Incorrect value during SDO upload
2: Incorrect length during SDO upload
3: Abort during SDO up/download
4: Incorrect date during a boot-up message
5: Timeout while waiting for a boot-up message
2: Incorrect SDO command specifier
3: SDO toggle bit has not changed
4: SDO length too great
5: SDO-Abort
6: SDO-Timeout
SDO up/download index
SDO up/download sub-index
reserved
Abort errorClass
Abort errorCode
Abort additionalCode
Read value (if offset 6 = 1)
Expected value (if offset 6 = 1)
Number of consecutive emergencies
Emergencies (8 bytes each)
Version: 3.5 EL6751