Baumer GNAMG - Manual (Page 32)

Manual_GNAMG_CANopen_EN.doc 32/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
4. Diagnostics and useful information
4.1. Error diagnostics in fieldbus communication
In case the inclination sensor does not react via the CANbus, check all cable connections first.
If the cable connections are ok, test fielbus operation next. To do so you need a CAN monitor to record
CANopen communication and to map the telegrams .
Now the inclination sensor should give a BootUp message upon power off and on again.
If there is no BootUp message, check whether the baud rates of inclination sensor, CAN monitor and bus
system are in alignment.
If you have problems in establishing a connection to a user check Node- ID and baud rate.
The baud rate must be all the same. The Node- ID (identifier, address) must be within 1 and 127. Every
bus user must be assigned a unique Node-ID, i.e. by no means the same Node ID must be assigned
several times.
Node-ID and baud rate may also conveniently be assigned by LSS services.
4.2. Error diagnostics via fieldbus
The inclination sensor provides several objects and messages to indicate state or error state:
object 1001h: This object serves as error register for the device error state.
object 1003h: This object saves the last 8 error codes and warnings.
object emergency (80h + Node-ID): High-priority error message of a user including error code and error
register.
SDO Abort Message: If SDO communication does not run properly the SDO response will come with an
abort code.
Object 1001h Error register
This register is indicating an existing device error together with its kind.
See separate object meaning
Object 1003h Predefined error field
In this object the last 8 error codes occurred out of the objects 6503h and 6505h are saved, the latest error as
entry in subindex 1, the most ancient error as entry in subindex 8.
Object Emergency
Error message of a user.