Diagnostic Information - Aventics CANopen VS CL03 Série Mode D'emploi

Table 28: Reaction of the bus coupler to NMT service (no error)
NMT service
NMT_RESET_NODE
NMT_RESET_COM
NMT_STOP
NMT_PRE-OPERATIONAL
Number of diagnostic
entries
Diagnostic Status
Diagnostic data
AVENTICS | CANopen | R402003660–BAL–001–AE
Module status
Pre-operational
Pre-operational
Pre-operational
Pre-operational
13.7.3

Diagnostic information

Diagnostic information can be read via the index 2020 of the OD.
The bus coupler provides 1 byte for diagnosis.
Index 2020 subindex 0 contains the highest subindex.
Highest subindex = 3
Index 2020 subindex 1 contains the length of the diagnostic data.
Length = 1, if diagnosis is active
Length = 0, if diagnosis is not active
Index 2020 subindex 2 contains the diagnostic status.
00hex, no diagnosis is active
01hex, diagnosis is available
Index 2020 subindex 3 allows the diagnosis bytes of the bus
coupler to be read out. These are coded in a byte as in Table 29.
Appendix – bus master configuration
Outputs
All outputs deleted
According to MCR bit 2,1
According to MCR bit 2,1
According to MCR bit 2,1
109
EMCY
reaction
No EMCY
No EMCY
No EMCY
No EMCY