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CANopen
Click the CANopen button on the bottom tool bar to access
diagnostics of the network and of CAN devices.
The page that opens is divided into two sections: CANopen
network devices are listed on the left, and details of the
selected device are shown on the right.
The Connect button reboots the device connection procedure.
In case of error, the ERR label turns red.
In case of error, the EMGY label turns yellow.
The following information is given for each CAN device on
the list:
•
Device status (STATUS), which can be:
- OK: device connected;
- ERR: device not connected after an error between
CAN Master and Slave;
- EMGY: device sends Master a CAN Emergency
message
•
Node number (NODE).
•
Device name (DEVICE). The name is the one set in
GF_Net.
General information
To see general information, select the device from the list on
the left and the General tab at the bottom right.
Available information:
•
Network Number: number of the CAN network to which
the device is connected.
•
Node Number: node number assigned to the device.
•
Dev Name: device name as defined in GF_Net
•
Status: device status as defined in the CANopen
standard.
Error information
To see error information, select the device from the list on the
left and the ERR tab at the bottom right.
Available information:
•
Network Number: number of the CAN network to which
the device is connected.
•
Node Number: node number assigned to the device.
•
Dev Name: device name as defined in GF_Net
If there is an error, the following information is also seen:
•
Type: type of error.
•
Descr: brief description of error.
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Based on the type of error, there is a series of additional
information:
•
Err connecting PDO Tx (S => M): occurs when the
Master cannot assign a COBID to a PDO (here, in
reception) because it is already reserved by another
device in the network. In this case, the first PDO in Rx
with a duplicated COBID will be highlighted. Search for
the indicated COBID in GF_Net to find the PDO causing
the problems.
•
Err connecting PDO Rx (M => S): occurs when the
Master cannot assign a COBID to a PDO (here, in
transmission) because it is already reserved by another
device in the network. In this case, the first PDO in Tx
with a duplicated COBID will be highlighted. Search for
the indicated COBID in GF_Net to find the PDO causing
the problems.
•
Err Check Fail: occurs when the Master cannot end the
Check phase. The Master checks that the physically
connected device is really the one expected by checking
the value of a series of CANopen objects on a list defined
in GF_Net ("SDO Check"). In this case, the CANopen
device with the error will be highlighted, showing Index
and SubIndex and specifying, as appropriate:
- a possible problem due to failed reception of the SDO,
- possible reception of an ABORT message,
- a possible difference between the expected value
(defined in the GF_Net Value column) and the one
actually present on the device
•
Err Setup Fail: occurs when the Master cannot end the
Setup phase. The Master sends the physically connected
device a series of CAN objects to configure the device.
The list of objects is defined on a list in GF_Net ("SDO
Set"). In this case, the CANopen device with the error
will be highlighted, showing Index and SubIndex and
specifying, as appropriate:
- a possible problem due to failed reception of the SDO,
- possible reception of an ABORT message.
•
Err Starting Fail: soccurs when the Master does not see
the CAN device switched to OPERATE after sending the
required command. This may occur because:
-
at start the Master did not receive all of the required
PDOs from the Slave (in this case, the first PDO NOT
received will be highlighted),
-
at start the Master detects that the Slave is in the
wrong position (in this case, the expected value
and the real value of the Slave will be shown),
-
at start the Master received from the Slave at least
one PDO with length (DLC) differing from the one
defined in the con_net.ini file (in this case the PDO
causing the error will be highlighted).
Search for the indicated COBID in GF_Net to find the
PDO causing the problems.
•
Err Node Guard: occurs when the Node Guarding
protocol between Master and Slave fails. Possible
causes:
- the Slave node does not send the reply to Node
Guarding,
- the Slave node is not in the status expected by the
Master,
- the Slave node does not toggle the bit.
80949_MAN_eView BOX_05-2019_ENG
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