BECKHOFF FC5101 - Manual (Page 63)

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FC510x: Bus Node Diagnostics
The CANopen fieldbus card FC510x has a comprehensive range of diagnostic options for connected network
nodes.
For each CANopen fieldbus node there is a node state input variable, which signals the status of the current
slave during the runtime and can be linked, for example with the PLC.
Node State (Box-State)
Node
State
Meaning Explanation
0 = 0x00 No error Bus node is operational, communication is running correctly
1 = 0x01 Node deactivated The node is subject to one or more of the following errors:
- guarding/heartbeat error (failure, toggle bit error, node has changed state)
- expected TxPDO has not been received
- TxPDO length shorter than expected
Node has been stopped, because "Manual restart" following a node failure
has been selected.
2 = 0x02 Node not found Node not found: no answer to SDO read access to object 0x1000 at the
expected node address. Check the following at the node: what node address
is set, and what baud rate. Check network (terminating resistors, connectors,
bus length, crossed wiring etc.)
4 = 0x04 SDO syntax error
at StartUp Error during SDO write access: SDO abort by node. See the "Diag" tab for
details.
or: the length of an object read by SDO does not agree with the expected
length.
5 = 0x05 SDO data mis- Expected data does not agree with that read via SDO (e.g. device profile