Protocol Description - Beckhoff CX1500-M510 Manual

Product overview
Parameters
Info 0, Info 1
Example of emergency behaviour
1. The CAN error counter in a Bus Coupler has exceeded the warning limit (too many error frames). It
sends an emergency telegram with the identifier 0x80 + node address (default setting) with the follow-
ing contents:
00 81 91 80 00 01 00 00
The first three bytes (0x00 81 91) identify a communication error, while the bit field 0 (0x80) indicates
that the CAN Warning Limit has been exceeded. The EMCY trigger (0x01) shows that the emergency
was triggered as a result of exceeding the warning limit.
2. Immediately afterwards a cable goes open circuit on the second channel of the 4-20 mA analog input
terminal plugged into the tenth location. The Bus Coupler sends another emergency telegram with the
following contents:
00 50 91 80 01 10 0A 82
The first two bytes (0x00 50) identify a hardware error. Bits 0 (generic error), 4 (communication) and 7
(manufacturer-specific) are set in the error register (0x91). Bit 7 is set in bit field 0 (0x80), showing that
the CAN warning limit continues to be exceeded. Bit 0 is set in bit field 1 (0x01), indicating a terminal
error. The EMCY trigger (0x10) indicates that it is this terminal error that has triggered the emergency
telegram. Finally, Info 0 (0x0A) indicates the terminal number (10) while Info 1 (0x82) shows in bit 1
and bit 7 that channel 2 has an error.
3. If the error counter now falls below the warning limit again, the coupler sends the following emergency
telegram:
00 00 81 00 01 01 0A 82
The error code (00 00) in the first two bytes shows that an error has been reset. The error register
(0x81) continues to show the device error, because the cable is still broken. Bit field 0 (0x00) shows
that the communication error is no longer present. According to bit field 1 (0x01) the terminal error
continues to be present. The EMCY trigger (0x01) indicates that the reason for the transmission was
the resetting of the CAN warning limit. Info 0 and Info 1 continue to show the terminal's diagnostics
status code.
4. Once the broken cable has been repaired this error is also reset, and the coupler sends the following
emergency telegram:
00 00 00 00 00 00 00 00
2.3.8

Protocol description

2.3.8.1 Network Management
Simple Boot-Up
CANopen allows the distributed network to boot in a very simple way. After initialization, the modules are
automatically in the Pre-Operational state. In this state it is already possible to access the object directory
using service data objects (SDOs) with default identifiers, so that the modules can be configured. Since
default settings exist for all the entries in the object directory, it is in most cases possible to omit any explicit
configuration.
Only one CAN message is then required to start the module: Start_Remote_Node: Identifier 0, two data
bytes: 0x01, 0x00. It switches the node into the Operational state.
Network Status
Network Status
The states and the state transitions involved as CANopen boots up can be seen from the state diagram:
92
Explanation
Contains additional error information; its meaning depends on the
emergency trigger (see above)
Version: 1.0 CX1500-M510, CX1500-B510