7 CANopen Function and Operation
7-25
D9998 can be used for monitoring the state of nodes from 1 to 16 in the network. And the 16
bits of D9998 corresponds to 16 slaves and the corresponding relations of them are shown
below.
Bit b7 b6 b5 b4 b3 b2 b1 b0
Node Node 8 Node 7 Node 6 Node 5 Node 4 Node 3 Node 2 Node 1
Bit b15 b14 b13 b12 b11 b10 b9 b8
Node Node16 Node15 Node14 Node13 Node12 Node11 Node10 Node 9
When the node in the master node list is normal, the corresponding bit is OFF; when the node
in the master node list is abnormal (E.g. Initializing fails or slave is offline due to other
abnormality), the corresponding bit is ON.
¾ The error code of every node is displayed through the corresponding special register and the
relations between special register and corresponding node are shown below.
Special
register
D9981 D9982 D9983 D9984 D9985 D9986 D9987 D9988
Node Node 1 Node 2 Node 3 Node 4 Node 5 Node 6 Node 7 Node 8
Special
register
D9989 D9990 D9991 D9992 D9993 D9994 D9995 D9996
Node Node 9 Node10 Node11 Node12 Node13 Node14 Node15 Node16
¾ Code display in D9981~D9996 as DVP32ES2-C is in master mode:
Code Indication How to correct
E0
DVP-ES2-C master module
receives the emergency
message sent from slave.
Read the relevant message via PLC program
E1
PDO data length returned from
the slave is not consistent with
the length set in the node list.
Set the PDO data length of slave and
re-download them.
E2 PDO of slave is not received. Check and ensure the setting is correct.
E3 Downloading auto SDO fails. Check and ensure auto SDO is correct.
E4
Configuration of PDO parameter
fails.
Ensure that the PDO parameter setting is
legal.
E5 Error in key parameter setting.
Ensure that the actually connected slave is
consistent with the configured slave.
E6
The slave does not exist in the
network
E7 Slave error control is timed-out.
Ensure that the supply power of slave is
normal and the connection in the network is
proper.
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