Cosaure1 310

Bridge Manual
Conversion CANopen Slave to AUER

on the PKV30-COS

Hilscher Gesellschaft fr Systemautomation mbH
Rheinstrae 15
D-65795 Hattersheim
Germany

Tel. +49 (6190) 9907 - 0
Fax +49 (6190) 9907 - 50

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Hotline and Support: +49 (6190) 9907 - 99

Sales Email: sales@hilscher.com
Hotline and Support Email: hotline@hilscher.com

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List of Revisions 2
Copyright * Hilscher Gesellschaft fr Systemautomation * Br:CosAur#9EN

Index Date Version Chapter Revision
3 27.09.01 V1.020 1, 2, 3 Translation from German manual
4 15.07.02 V1.030 2, 3 Extension: Timeout for CANopen Master
Telegram counter
5 01.04.03 V1.100 all Extension: Reading of CAN Bus Messages
6 02.07.03 V1.101 all revised
7 26.05.04 V1.200 all Extension: Implementation of CANopen Objects
8 23.03.05 V1.210 - Handling of CANopen Object 1000, no change in
documentation
9 31.01.07 V1.310 all
2.2
2.4.1
2.4.2
2.4.4
3.3
Handling of digital outputs
Process Data Image
Dimension byte
Reference to SCALE table
Corrected addresses of Modbus
Changed default value from Off to 310h for parameter Identifier

Although this protocol implementation has been developed with great care and intensively
tested, Hilscher Gesellschaft fr Systemautomation mbH cannot guarantee the suitability of
this protocol implementation for any purpose not confirmed by us in writing.
Guarantee claims shall be limited to the right to require rectification. Liability for any
damages which may have arisen from the use of this protocol implementation or its
documentation shall be limited to cases of intent.
We reserve the right to modify our products and their specifications at any time in as far as
this contribute to technical progress. The version of the manual supplied with the protocol
implementation applies.

Table of Contents 3
1 INTRODUCTION.................................................................................................. 5
2 COURSE OF THE PROTOCOL CONVERSION.................................................. 6
2.1 Introduction............................................................................................................................ 6
2.2 The Process Data Image....................................................................................................... 7
2.3 Read of CAN Bus Messages................................................................................................. 8
2.3.1 General ............................................................................................................................ 8
2.3.2 Interpretation of the Alarm Bits........................................................................................ 9
2.4 Mode of Functioning of the Protocol Conversion............................................................ 10
2.4.1 Converting the Measuring Values of SUPREMA Coupling Partner.............................. 10
2.4.2 Scaling the Measured Values........................................................................................ 11
2.4.3 Meaning of the Status Information................................................................................. 12
2.4.4 Storing the Data............................................................................................................. 13
2.4.5 Storing the Status Information....................................................................................... 14
2.5 CANopen Objects ................................................................................................................ 15
2.5.1 Object 1002h................................................................................................................. 15
2.5.2 Object 1008h................................................................................................................. 15
2.5.3 Object 100Ah................................................................................................................. 15
2.5.4 Object 2413h................................................................................................................. 15
2.6 Digital Outputs ..................................................................................................................... 16
2.6.1 Accessing Data via Modbus RTU.................................................................................. 17
3 PARAMETER ASSIGNMENT WITH AID OF COMPRO ................................... 18
3.1 The Parameterization of the Modbus RTU Protocol ........................................................ 18
3.2 The Parameterization of the CANopen Protocol .............................................................. 18
3.3 Parameterizing the COSAUR Bridge ................................................................................. 19
3.4 Parameterizing the MEM Table........................................................................................... 20
3.5 Parameterizing the BUS_COS Table.................................................................................. 21
3.6 Parameterizing the SCALE Table....................................................................................... 22
3.7 Parameterizing the DGOUTPUT Table............................................................................... 23
4 ERROR HANDLING .......................................................................................... 24
4.1 Error Handling of the Modbus RTU Protocol Task .......................................................... 24
4.2 Error Handling of the COSAUR Bridge ............................................................................. 25
5 EXTENDED TASK STATUS.............................................................................. 27
5.1 Extended Task Status of the Modbus RTU Protocol Task .............................................. 27
5.2 Extended Taskstatus of the COSAUR Bridge................................................................... 28
Table of Contents 4
5.2.1 COSAUR General.......................................................................................................... 28
5.2.2 COSAUR Modbus.......................................................................................................... 29
5.2.3 COSAUR Identifier......................................................................................................... 29
5.2.4 COSAUR Object............................................................................................................ 30
5.2.5 COSAUR PDO Data...................................................................................................... 30
5.2.6 COSAUR Digital COB-ID............................................................................................... 31
5.2.7 COSAUR Digital Update................................................................................................ 32

Introduction 5
1 Introduction
This description documents the coupling of a Modbus RTU Master to the SUPREMA of
the Auer Company by means of a PKV 30-COS. The PKV 30-COS converts the
CANopen telegrams sent by the SUPREMA and changes them into Modbus RTU
telegrams.
In addition a CAN Identifier can be parameterized. From this identifier data will be
followed by the PKV 30-COS. This identifier is no longer available to CANopen.
The SUPREMA can read the serial number, device name and firmware version of the
PKV 30-COS with the CANopen objects 1002h, 1008h and 100Ah.
With the CANopen object 2413h, the SUPREMA can inform the PKV 30-COS about
the active CAN-Bus.
The PKV 30-COS can handle data of digital outputs from up to 13 modules via the
CAN-Bus.
The protocol converter works as Slave on CANopen and on Modbus.

Parameter Assignment with Aid of ComPro 6
2 Course of the Protocol Conversion
2.1 Introduction
The data exchange between the Modbus RTU Master and the SUPREMA coupling
partner (CANopen Master) is carried out via a process image in the protocol converter.
The Modbus RTU Master has read access to the process image.
The SUPREMA Master is situated on the CANopen side. Its measured values are
copied into the process image and can be read out by a Modbus RTU Master.

Figure 1: Telegram course between the Modbus RTU Master and SUPREMA
After the data of the CANopen telegram have been evaluated, it is confirmed by the
PKV 30-COS. This occurs in that the protocol converter returns the last measured
measuring point to the SUPREMA coupling partner.
The PKV 30-COS enters an UNSIGN32 value in the first four bytes in the answer
telegram. This value will be incremented by ONE with each answer. So an answer will
also be sent to the SUPREMA coupling partner if the number of the measuring point
hasn't changed.
In addition, a timeout for the SUPREMA coupling partner can parameterized. Receives
the PKV 30-COS no new data within the parameterized time, the PKV 30-COS will
send the last received measuring point number to the SUPREMA coupling partner
again. The contents of the first four telegram bytes (UNSIGN32) will also be
incremented.
2.2 The Process Data Image
The data exchange between the Modbus RTU Master and the SUPREMA is carried out
via a process image in the protocol converter. The process image is a word array with
a length of 1000 as well as a byte array with a length of 312. The Modbus start address
of the process image for function code 3 is 40.001. For the function code 2, the
Modbus start address is 10.001. The whole process image is initialized with zero with a
reset of the protocol converter. The process image is operated in the Motorola Format,
according to the Modbus convention. A region for the storage of the status is defined at
the start of the process image. With this status the Modbus RTU Master can read the
status of the communication to the SUPREMA. The measured values of SUPREMA
follow on from the status. Three modes are available for displaying the measuring
values:
Mode Modbus address area Meaning
Mode 1 40.010 .. 40.777

10.001 .. 12.048

12.049 .. 12.568
Data of the measuring points 1 to 256, always 3 Registers per
measuring point in the sequence:
measured value
dimension
measuring range
Status of the measuring points 1 to 256, always 8 Bit per
measuring point
Process data of digital outputs
Mode 2 40.010 .. 40.265

10.001 .. 12.048

12.049 .. 12.568
Data of the measuring points 1 to 256, always 1 register with
the measuring value
Status of the measuring points 1 to 256, always 8 Bit and 1 Byte
respectively per measuring point
Mode 3 40.010 .. 41.033

10.001 .. 12.048

12.049 .. 12.568
10.001.. 12.048 Data of the measuring points 1 to 256, always
4 registers per measuring point. The CANopen data of the
SUPREMA are laid down transparently.
Status of the measuring points 1 to 256, always 8 Bit per
measuring point

Mode 1
Mode 2
Mode 3
40.001 .. 40.009 Status information
Table 1: Modbus address area
The data of the measuring points and the status information are deleted, if 10 seconds
after a node guard request no further node guard request has occoured.

2.3 Read of CAN Bus Messages
2.3.1 General
In order to make data transfer to Modbus faster, CAN messages can be followed by the
PKV 30-COS. This data is laid down in the process data image directly. The followed
data affect single bits of the measure status, other data is taken from the cyclic
CANopen telegrams.
The identifier for this procedure can be parameterized. If there is no identifier
parameterized, data will be taken from the cyclic CANopen telegrams only.
Up to 256 messages (for 256 measure numbers) within one second can be handled. All
telegrams must have the same identifier. Parameterization for the identifier is described
in section Parameterizing the COSAUR Bridge on page 19.
The followed CAN bus message must have the following structure:
ID Length MS-NO Status
Alarm
Status
Fail
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Table 2: Definition of the CAN Bus Message
Res. Res. Res. Res. 4. Alarm 3. Alarm 2. Alarm 1. Alarm
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Table 3: Definition of the Status Alarm Byte
Res. Res. Res. Res. Res. Res. Overflow Signal
missing
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Table 4: Definition of the Status Fail Byte
Data for process data image is therefore taken from different sources. All possible
information is taken from the status alarm and status fail byte. All remaining information
is taken from the CANopen telegram.
2.3.2 Interpretation of the Alarm Bits
The interpretation of the alarm bits in the CAN message can either be binary or
decimal. The parameterization is described in section Parameterizing the COSAUR
Bridge on page 19.
With binary interpretation, the bits of the status alarm byte are copied directly to the
corresponding status byte of the process data image.
With decimal interpretation, data is laid down in the corresponding status byte of the
process data image as follows:
Received Data
4. Alarm to 1. Alarm
Data in process data image
4. Alarm to 1. Alarm
0000b 0000b
0001b 0001b
0010b 0011b
0011b 0111b
0100b 1111b
Table 5: Decimal interpretation of the alarm bits
All other received data is invalid and will be ignored.
2.4 Mode of Functioning of the Protocol Conversion
The protocol converter has Slave behavior on the Modbus RTU side. The Modbus RTU
Master has read access with the Modbus function codes 2 and 3 on the process image.
In this there is always displayed the first valid Modbus register address according to the
Modbus convention at the start of the process image (e.g. 40.001 for FC3).
The following should be noted:
For the function code 3, the maximum data count is 100 register.
For the function code 2, the maximum data count is 255 bits.
Markers and Registers are managed in separate process image.
2.4.1 Converting the Measuring Values of SUPREMA Coupling Partner
The telegrams received from SUPREMA always consist of 8 bytes and have the
following meaning:
Byte Data content Permissible value range
1 Measured value ( n ) 0..255
2 Measured value ( n+1 ) 0..255
5 Measuring number 0..255
6 Measuring status 0..255
7 Dimension 1: Ppm
2: PPm.m
3: %UEG
4: %UEGm
5: Vol%
6: %relF
7: C
8: ppb
9: BIN
8 Measuring range 1..30
Table 6: Structure of the CANopen Telegram
The first 4 Bytes are interpreted according to IEEE as a decimal number.
2.4.2 Scaling the Measured Values
The scaling of the measured values is carried out depending on the setting in the
database. The configuration is described in section Parameterizing the SCALE Table
on page 22.
Scaling of the data is possible in Mode 1 and Mode 2.
Scaling active:
Depending on the respective measuring range, the measured values are scaled in a
range from 1 to 4094. Negative, as well as invalid numbers are displayed as 0;
measured value oversteps are shown as 4095. The number of the measuring region is
here taken from the Byte 8 of the CANopen telegram. Invalid values for the measuring
range are not processes and are marked with an error in the status information.
The scaling is calculated as follows:
Int12 = 1 + ( 4093 / measuring_range * Float32)
The output value is rounded.
Scaling inactive:
The measuring values of the Float data type are converted directly into a value of data
type Int 12 and displayed. Negative, as well as invalid numbers are displayed as 0;
measuring value oversteps are shown as 4095. The output value is rounded.
2.4.3 Meaning of the Status Information
The first nine registers contain status information that can be read out during the run
time by means of function code 3 by the Modbus RTU Master.
Register Data contents
40001 Last read out measuring point
40002 Set register mode
40003 Set cycle time
40004 Last appeared error
40005 Last faulty measured point
40006
40007
Number of received Node Guard Requests ( 32 Bit - entry)
40008 Number of appeared errors
40009 (lower byte) 0 - Scaling inactive
1 - Scaling active
40009 (upper byte) 0 No active CAN-Bus
1 CAN-Bus A active
2 CAN-Bus B active
3 Invalid value
Table 7: Status Information
2.4.4 Storing the Data
The value of the measuring point status is written into the marker process image. The
value of the measuring point number is used for defining the position of the data in the
process image. This dependent also on the set register mode:
Register Mode 1:
Register Data Contents
40010 Measured value of measuring point 1
40011 Dimension of measuring point 1
40012 Measuring range of measuring point 1
40014 Dimension of measuring point 2
.. ..
Table 8: Register Map Mode 1
Register Mode 2:
.. ..
Register Mode 3:
40010 Measured value Byte 0 and Byte 1 of measuring point 1
40012 Measuring point number and measuring point status of measuring point
1
40013 Dimension and measuring range of measuring point 1
1
.. ..
256
2.4.5 Storing the Status Information
The assignment of the individual coils in the process image is independent of the set
register mode:
Coils Data Contents
10001 Alarm 1 of measuring point 1 set
10005 Calibration of measuring point 1 started
10006 Disturbance of measuring point 1
10007 Measuring point 1 locked
10008 Measuring range of measuring point 1 exceed
10013 Calibration of measuring point 2 started
10014 Disturbance of measuring point 2
.. ..
12048 Measuring range of measuring point 256 exceed
Table 11: Coil Arrangement
2.5 CANopen Objects
2.5.1 Object 1002h
The CANopen object 1002h can be used to read the serial number of the PKV30-COS.
The transferred value is a UNSIGN32 data type.
The object 1002h is read-only.
2.5.2 Object 1008h
The CANopen object 1008h can be used to read the device name of the PKV30-COS.
The following 7 Bytes in ASCII-Format will be transferred:
ASCII P K V 3 0
Hex 50h 4Bh 56h 20h 33 30h 20h
Table 12: CANopen object 1008h
The object 1008h is read-only.
2.5.3 Object 100Ah
The CANopen object 100Ah can be used to read the firmware version of the PKV30-
COS. The data representation of the version number is decimal, the transfer of this
decimal value is done with the following 7 bytes in ASCII-Format:
ASCII A '1..9' . '0..9' '0..9' '0..9'
Hex 41h 20h 31h..39h 2Eh 30h..39h 30h..39h 30h..39h
Table 13: CANopen object 100Ah
The object 100Ah is read-only.
2.5.4 Object 2413h
The CANopen object 2413h can be used by the SUPREMA to inform the PVK 30-COS
about the active CAN-Bus.
The Modbus coupling partner can read this information from the PVK 30-COS. This is
described in section Meaning of the Status Information of this manual.
The information is transferred with one byte, the following values are valid:
01h: CAN-Bus A is active
02h: CAN-Bus B is active
All other values are invalid.
The object 2413h can be read and written.
2.6 Digital Outputs
The SUPREMA can transmit information about digital outputs to the PKV 30-COS.
These information can be read by a Modbus RTU Master from the PKV 30-COS via
function code 2 starting at address 12.049.
Up to 13 modules with digital output data can be handled by the PKV 30-COS. Each
module transmits one PDO. 5 bytes of process data and 3 bytes of control data are
transmitted with each PDO.
The configuration is described in section Parameterizing the DGOUTPUT Table at
page 23.
PDO Byte Meaning
1 Process data, byte 1
6 Not handled by the PKV 30-COS
7 Valid time in milliseconds, byte 1 (MSB)
8 Valid time in milliseconds, byte 2 (LSB)
Table 14: PDO data for digital outputs
After receiving the next SYNC telegram, the PKV 30-COS awaits the valid time for
each PDO, before providing the received process data to the Modbus RTU. Is a valid
time with zero value received, the process data will be provided immediately to the
Modbus RTU with the next SYNC telegram.
Therefore the Node-ID for each module with digital outputs has to be configured by the
user.
Note: New PDO data will be ignored while previous process data did not become valid,
SYNC telegrams do not restart the valid time counter. The COB-ID for SYNC-
Telegrams is 128 (80h) and cannot be changed.
2.6.1 Accessing Data via Modbus RTU
Digital output process data can be accessed by a Modbus RTU Master as follows:
Modbus address Meaning
12.049 Configured node 1 with digital outputs, output 1


Table 15: Accessing Data via Modbus RTU

3 Parameter Assignment with Aid of ComPro
The parameters, which are used for the transaction of the protocol, are assembled in
the following.
Note: The green RUN-LED at the device just goes on, if all protocols have been
initialized without error.
The initialization always takes place during the start of the device or after a change of
the parameters. During the initialization, the parameters are tested for their
completeness and their permissible limits. If an error is found during initialization, it is
entered into the trace buffer and the protocol is not activated. This condition can only
be ended with a new initialization.
When the initialization has been completed successfully, the coupling operation is
started.
3.1 The Parameterization of the Modbus RTU Protocol
The Parameterizing of the Modbus RTU protocol can be taken from the Modbus
coupling manual.
3.2 The Parameterization of the CANopen Protocol
The Parameterizing of the CANopen-Protocols can be taken from the PKV 30-COS
manual.
3.3 Parameterizing the COSAUR Bridge
The following parameters must be defined individually. The default values are shown
bold and underlined:
Parameter Meaning Range of value
Cycle Time The cycle time in ms in which the CANopen data are
updated
10..20..200
Register Mode Position and type of data in the process image Mode 1
Mode 2
Mode 3
Scaling The scaling of the measuring values can be switched
activated and deactivated
On
Off
Timeout Timeout for SUPREMA coupling partner
0 =No Timeout
1..255 =Timeout * 100ms
0..10..255
Identifier Identifier of the CAN Bus Message
No identifier
Identifier of MDO rack 0

Off
310h
320h
330h
340h
350h
360h
370h
Alarm Input Interpretation of the Alarm Bits of the CAN Bus Message Binary
Decimal
CANopen Objects Activation of the CANopen Objects 1002h, 1008h, 100Ah
and 2413h
Inactive
Active
Table 16: Parameter List of the Table COSAUR
3.4 Parameterizing the MEM Table
Settings with respect to the display memory can be carried out in the MEM table.
These settings normally do not need to be changed.
Parameter Meaning Range of value
Storage format registers Determines how Registers (words) are stored in the
process images.
word(M) =Motorola Format
word(I) =Intel Format

word(M)
word(I)
Storage format coils Determines how coils are stored in the process
images.
word(M) =Word in the Motorola Format
word(I) =Word in the Intel Format
Lword(M) = Long word in the Motorola Format
Lword(M) =Long word in the Intel Format
byte =Byte string

word(M)
word(I)
Lword(M)
Lword(I)
byte
Table 17: Parameter List of the Table MEM
3.5 Parameterizing the BUS_COS Table
The baud rate of the CANopen can be set in the BUS_COS table.
Parameter Meaning Range of Value
Baudrate Baud rate of CANopen 1Mbaud
800kBaud
500kBaud
250kBaud
125kBaud
100kBaud
50kBaud
20kBaud
10kBaud
Table 18: Parameter List of the Table BUS_COS
3.6 Parameterizing the SCALE Table
The measuring ranges of the conversion can be parameterized by means of the
SCALE table. Up to 30 different measuring ranges can be parameterized. The numbers
of the measuring ranges correspond to the numbers in Byte 8 of the CANopen
telegram.
Parameter Range of Value
Measuring range 1 0..0,3..100000
Measuring range 3 0..1..100000
Table 19: Parameter List of the Table SCALE
3.7 Parameterizing the DGOUTPUT Table
The digital output handling can bet configured with the DGOUTPUT table. Here, the
Node-ID of each module with digital outputs has to be parameterized. The PKV 30-
COS checks during initialization that each Node-ID is parameterized only once.
Parameter Meaning Range of Value
Node-ID digital output 01 Digital output 1 are not handled.
Node-ID of digital output 1.
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
0
1..127
Table 20: Parameter List of the Table DGOUTPUT
The COB-ID of the particular digital output is calculated as follows:
COB-ID =200h +Node-ID

Error Handling 24
4 Error Handling
If an error occurs in the data transmission, the error LED of the interface is switched
on. Depending on the chosen method of operation it is extinguished with the next error-
free data transfer or it remains on until the next initialization.
4.1 Error Handling of the Modbus RTU Protocol Task
The error handling of the Modbus RTU protocol task can be found in the Modbus
Coupling manual.
Error Handling 25
4.2 Error Handling of the COSAUR Bridge
All error messages that are entered by the Bridge into the trace buffer are given in the
following. Some of the messages will never occur in practice.
Error number Error Meaning
51 Error "Modbus Token" No Modbus token
52 Error "Modbus Address" Wrong Modbus address
53 Error "Memory length" Wrong memory length
54 Error "Address in combination with length" Wrong Modbus Address and wrong
memory length
55 Error "Invalid Identifier" Invalid identifier parameterized
56 Error "'COS Token" No COS token
60 Error 'Node-ID digital output already used' Node-ID of digital output is already used
Table 21: Initialization Error
Error Handling 26

110 Error "Dimension" Invalid value for dimension
111 Error "Range" Invalid value for measuring range
112 Error "Dimension and Range" Invalid value for dimension and measuring
range
120 Error 'Invalid Sub-Index' Invalid sub-index in CANopen object
121 Error 'No write access to object' Invalid write access to CANopen object
122 Error 'Too less data received' 'Too less data in CANopen object received
123 Error 'Too much data received' 'Too much data in CANopen object
received
124 Error 'Data value too high' Received data value in CANopen object
too high
125 Error 'Data value too low' Received data value in CANopen object
too low
126 Error 'Invalid command Invalid command in CANopen object
received
127 Error 'Invalid object' Invalid CANopen object received
128 Error 'Object contains no valid data CANopen object contains no valid data
130 Error 'Unknown COB-ID received' Unknown COB-ID received
131 Error 'Invalid lenght for PDO received' Invalid lenght for PDO received
140 Error 'Unknown error' Unknown error
152 Error "Message Command" Unknown command
163 Error "Data Address" Invalid data address
165 Error "Data Count" Invalid data number
167 Error "Function" Invalid function code
Table 22: Protocol- and Message Error
200 Error "Task not initialized" Task not initialized
210 Error "Database" Database read in with error
212 Error "Database Read" Invalid table entry
213 Error "Structure" Invalid data structure
217 Error 'System error' General system error
219 Error 'Dual port' No dual port memory
222 Error "Unexpected Event" Unexpected event appeared
Table 23: Internal System Error

Extended Task State 27
5 Extended Task Status
In the ComPro diagnostic and parameterizing program, Extended Task Status can be
displayed via the menu Online > Task... Status display... From this the current
operating condition of the protocols or the bridge and statistical information on the
protocol course up to the present, can be taken. This information is always updated
from the coupling protocol and the Bridge. All data can be reset to zero via the menu
Online >Task... Status delete...
5.1 Extended Task Status of the Modbus RTU Protocol Task
The extended Task Status of the Modbus RTU Protocol Task can be found in the
Modbus Coupling manual.
5.2 Extended Taskstatus of the COSAUR Bridge
5.2.1 COSAUR General
The following Task Status contains condition, statistics and error information of the
protocol converter with the SUPREMA.
Status Meaning
State Actual Status:
0 basic state
1 Task has initialization command
4 Modbus access OK
5 Modbus access faulty
Last Error Last appeared error
Error Count Number of appeared errors
Cyclic Events Internal counter
IO Events Internal counter
Inner Loop Count Internal counter
RCS Cycle Time Read out RCS cycle time
Byte 1 Measured value n
Byte 2 Measured value n +1
Int 12 Value Converted measured value
Measure Value Read in Float
Table 24: Definition of the Extended Task Status - COSAUR General
5.2.2 COSAUR Modbus
The following Task Status contains status-, statistic- and error information of the
communication of the protocol converter with the Modbus RTU Master.
Status Meaning
Function code 1 Number of access with function code 1
Data address Modbus address of the last access
Data count Number of data of the last access
Function code Function code of the last access
Data 1 [Hex] 1. Data of last access
Error count Number of faulty access
Last error Number of the last error
Table 25: Definition of the Extended Task Status - COSAUR Modbus
5.2.3 COSAUR Identifier
received CAN messages.
Status Meaning
Receive Msg Count Received CAN bus messages (blocked)
Receive Count Received CAN bus messages (single)
Identifier (HEX) Parameterized identifier
Wrong Length Received CAN bus messages with invalid length
Wrong Identifier Received CAN bus messages with invalid identifier
Measure Number Last received measure number
Status Alarm Last received status alarm byte
Status Fail Last received status fail byte
Wrong Alarm Received CAN bus messages with invalid alarm bits
Table 26: Definition of the Extended Task Status - COSAUR Identifier
5.2.4 COSAUR Object
received CANopen objects.
Status Meaning
Receive object count Received CANopen objects
Object 1002h count Received CANopen objects 1002h
Object 100Ah count Received CANopen objects 100Ah
Object unknown count Received unknown CANopen objects
Error count Count of detected errors
Last error Last detected error
Last object error (hex) Last faulty CANopen object
Table 27: Definition of the Extended Task Status - COSAUR Object
5.2.5 COSAUR PDO Data
The following Task Status contains status information of the digital process data of the
PDOs to the process image.
Status Meaning
PDO update cnt Counter for updating PDO data to process image
Last updated digital output Number of last updated digital output
Last updated PDO COB-ID COB-ID of last updated PDO
Last PDO data byte 1 Byte 1 of last updated PDO
Last PDO data byte2 Byte 2 of last updated PDO
Table 28: Definition of the Extended Task Status - COSAUR PDO Data
5.2.6 COSAUR Digital COB-ID
The following Task Status contains status- and error information of the received
telegrams for digital output handling.
Status Meaning
Last error Last detected errors
Error count Number of detected errors
SYNC recv cnt Number of received SYNC-Telegrams
Digital output 01 recv cnt Number of received telegrams from digital output PDO 1
Digital output 04 recv cnt Number of received telegrams from f digital output PDO 4
Table 29: Definition of the Extended Task Status - COSAUR Digital COB-ID
5.2.7 COSAUR Digital Update
The following Task Status contains status information for data update to the process
image.
Status Meaning
Digital output receive count Number of received PDOs with digital data
Last received digital output Number of last received digital output
Digital output 01 time to update Timeout for data update of digital output 1
Table 30: Definition of the Extended Task Status - COSAUR Digital Update

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