Code: |
AS + 756 |
Symbolic: |
bccCanRbxChDiag |
This command will query diagnostic information about one or more Robox CANopen channel (DS 301). Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: (none) |
4 |
U16 |
CHID |
Channel ID |
6 |
U16 |
NCH |
No. of channel (max 24) |
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U16 |
NCH |
No. of CHDAT structures (max 24) |
2 |
CHDAT |
DATA1 |
Data for 1st channel |
12 |
CHDAT |
DATA2 |
Data for 2nd channel |
... |
... |
... |
... |
.. |
CHDAT |
DATA{NCH} |
Data for Nth channel |
Each CHDAT structure have the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+0 |
U16 |
CHID |
Channel ID |
+2 |
U32 |
CHSTS |
Channel status: 0x00000001 Successful boot-up operation 0x00000002 Successful main software load 0x00000004 Successful configuration 0x80000000 Not present channel |
+6 |
U32 |
DIAG |
Channel diagnostic: 0x00000001 Fault in Can Handler 1 0x00000002 Fault in Can Handler 2 0x00000004 Fault in Can Handler 3 0x00010000 Watchdog fault (immediate) 0x00020000 Watchdog fault (filtered) 0x00040000 Handshake not ready 0x00080000 Global communication fault 0x00100000 PLL lost - no synch signal is sent |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 What illegal: 1=Flags 2=Channel ID 3=No. of channel |
