Communication extension card
-22-
COB-ID
Byte0 (state value)
0x700 + Node-ID
Bit 7: Triggering bit; Bits 0 to 6: State
⚫
Description
The most significant bit (MSB) bit 7 of Byte0 (state value) in the response command is the triggering bit, that
is, the value of bit 7 is alternated between 0 and 1 each time when the slave station transmits a response
frame to distinguish frames. Bits 0 to 6 indicate the state of the slave station.
describes the state
values and their corresponding state.
Table 3-5 State values and their corresponding states
State value (Byte0: Bits 0
–6
)
State
0x00
Initializing
0x04
Stopped
0x05
Operation
0x7F
Pre-operational
⚫
Example
For example, the command for the master station to detect the state of slave station 3.
Master station (remote frame) -> slave station
COB-ID
No data
0x703
/
After receiving the node protection command transmitted by the master station, the slave station transmits
the following command response to the master station.
COB-ID
Byte0 (state value)
0x703
0x85
In the command, bit 7 of Byte0 is 1, and the state value is 0×05, indicating that slav
e station 3 is in the
operation state. If receiving another node protection command, the slave station transmits a command
frame in which the state value is 0×05 to the master station, and the value of bit 7 is alternated to 0.
3.4.5
Heartbeat packet (Heartbeat Producer)
In some cases, the master station requires that a slave station automatically transmits a frame of heartbeat
packets at an interval, so that it can learn the state of the slave station in real time. The interval parameter
(data length: 16 bits; unit: ms) is defined in the object dictionary 0x1017. If the interval is set to 0, the slave
station does not transmit heartbeat packets. For this CANopen communication card, the interval is set to 0
by default.
⚫
Command
Slave station -> master station
COB-ID
Byte0
