BECKHOFF FC5101 - Manual (Page 27)

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ActualCycleTime: Shows the current cycle time in 4/25 µs. This variable is only updated when all slaves are
involved in the data exchange (and when error is 0)
DiagFlag: Shows whether the diagnostics information on the card has changed. This can be read off using
ADS Read. For that purpose, specify the net ID of the FC510x, the port number 200 and the IndexGroup
0xF100. The IndexOffset and the length then relate to the diagnostic data. (Note: The Box States are also avai-
lable as box variables.)
Offset 1-127: BusStatus List, 1-127 one byte per station address which contains the station status (see Box-
State for CANopenboxes)
Global State: Various diagnostic and status displays for the FC510x. The byte in GlobalState(0) shows the
status of the card in relation to the TwinCAT system: RUN, RESET, OFFLINE and STOP are distinguished.
GlobalState(2) gives information about the status of the CAN controller: "CAN Warning Limit Reached" and
"Bus Off" are displayed. Warning limit reached means that the send/receive error counter on the CAN controller
has exceeded the value 96. BusOff means that the CAN controller can no longer participate in bus communica-
tion; this is caused by an excessive number of CAN errors (Error Frames). In this case there is a serious physi-
cal error in the CAN network. (e.g. too little or too much matching resistors, at least a device with an incorrect
baudrate, short circuit etc.) The bus off state is only left by a card reset. Details about further global state data,
see comments in ”Online” tab.
LastAdsError: Shows the error code of the last ADS access error, e.g. if an attempt has been made to read
the diagnostic data for a deactivated node.
CycleFailedCounter: Counts the number of firmware cycles which could not be completed before the associ-
ated task wanted to re-read/re-write the process image. If this counter is incremented, the task cycle time has
been set too low for the actual network configuration.
BusLoad: Shows the current bus load in %. The Bus Load is an important design criterion for CAN networks.
The value shown is a average value over 100ms.