Code: |
AS + 757 |
Symbolic: |
bccCanRbxWsDiag |
This command will query diagnostic information about one or more Robox CANopen workstation . Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: |
4 |
U16 |
WSID |
Workstation ID (0=all)(#1) |
6 |
U16 |
N |
No. of workstation (max 41) |
(#1) Workstation ID is also know (or defined) as Robox ID.
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U16 |
N |
No. of WSDAT structures (max 41) |
2 |
WSDAT |
DATA1 |
Data for 1st workstation |
8 |
WSDAT |
DATA2 |
Data for 2nd workstation |
... |
... |
... |
... |
.. |
WSDAT |
DATA{N} |
Data for Nth workstation |
Each WSDAT structure have the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+0 |
U16 |
WSID |
Workstation ID (#1) |
+2 |
U32 |
DIAG |
Workstation diagnostic: 0x00000001 Missing Rx PDO 1 0x00000002 Missing Rx PDO 2 0x00000004 Missing Rx PDO 3 0x00000008 Missing Rx PDO 4 0x00000010 Before time Rx PDO 1 0x00000020 Before time Rx PDO 2 0x00000040 Before time Rx PDO 3 0x00000080 Before time Rx PDO 4 0x00000100 Missing mandatory workstation 0x00000200 Missing workstation 0x00000400 Last request RTR failed 0x00000800 Workstation presence imposed 0x00001000 Reconfiguring workstation 0x00002000 Error during reconfiguration 0x00010000 Emergency message present 0x00020000 No communication (in operational mode) 0x00040000 Workstation kind : mandatory 0x00080000 Workstation kind : reloadable on connection 0x00100000 Configuration satisfactory done 0x00200000 Workstation not present on first configuration 0x00400000 Problem occurs during configuration on SDO command 0x00800000 Problem occurs during configuration on NMT command 0x01000000 Configuration done 0x40000000 Workstation not started 0x80000000 Undefined workstation |
(#1) Workstation ID is also know (or defined) as Robox ID.
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 Param ID 1=Bad flags 2=Bad workstation ID 3=Bad no. of workstation |
