Beckhoff FC5101, Documentation

Page: 41 / 100

CANopen Communication
FC5101 and FC5102 41 Version: 2.0
Heartbeat procedure
Fig. 35: Schematic diagram: "Heartbeat procedure"
Protocol
The toggle bit is not used in the heart beat procedure. The nodes send their status cyclically (s). See
Guarding [
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39] .
5.2 BootUp of the FC510x
Introduction
The firmware in the FC510x CANopen PCI card treats each individual node separately. The first action
following the system start is to check for the presence of the expected nodes, and whether they basically
correspond to the devices that have been configured. Following this, each node is parameterized and
started, independently of the others. The starting behavior of a node is described below.
1. Reset All Nodes
The starting sequence begins with the global Reset Communication telegram, so that all nodes are brought
in to a defined initial state
2. Identify Node
Presence of the nodes is first established through an SDO upload of the object 0x1000 (Device Type). The
content supplied by a node is checked for agreement with the expected value. Object 0x1000 is composed
of the profile number and of the additional information - both values can be found on the CAN Node tab.
If both the additional information and the profile number are set to "0", the contents returned for object
0x1000 is not checked. An answer containing an SDO abort protocol cannot be tolerated; the process is
interrupted.
For values other than zero, the next step is only taken if the value is as expected. Otherwise the process is
aborted and the node enters state 0x04 (SDO syntax error at start-up if an SDO abort message has been
received or if the data length is incorrect) or state 0x05 (if there is an SDO data mismatch at start-up or the
value do not comply) and an appropriate error message is displayed in the dialog box.