CANopen Communication
FC5101 and FC5102
43
Version: 2.0
After all configured nodes have been found, successfully parameterized and individually started, the FC510x
card again sends a global Start_Remote_Node telegram (with node ID=0).
8. SYNC
SYNC telegrams are first sent after the linked task with the highest priority has been started. Synchronous
TxPDOs are also therefore triggered until this task is running - this can also be a reason for the node state
remaining at 0x17.
Example of a boot up sequence:
Node with node ID1, identifier in hex code.
Time ID DLC DATA Description
0.1244 00 2 82 00 Reset communication all nodes
All nodes are moved into source state
0.1252 601 8 40 00 10 00 00 00 00 00 [1000,00] Initiate Upload Rq.
First attempt to find knot 1 - node is still in Reset
2.1316 601 8 80 00 00 00 00 00 04 05 05040000 [0000,00] Abort: SDO protocol timed out
Node has not answered within SDO Time-out (2 sec), SDO is broken off
2.7875 701 1 00 Boot-up
Node has carried out reset and contacts with Boot-Up message
4.1391 601 8 40 00 10 00 00 00 00 00 [1000,00] Initiate Upload Rq.
Second attempt to find node 1. Reading access to object 0x1000
4.1411 581 8 43 00 10 00 91 01 07 00 91 01 07 00 [1000,00] Initiate Upload Rsp. expedited
Node 1 answers with Profile No. 0x191 (401dez) and Add. Info 0x07
4.1418 601 8 40 18 10 01 00 00 00 00 [1018,01] Initiate Upload Rq.
The Vendor ID is read
4.1434 581 8 43 18 10 01 02 00 00 00 02 00 00 00 [1018,01] Initiate Upload Rsp. expedited
Node 1 answers with Vendor ID 0x02 (= Beckhoff)
4.1442 601 8 23 00 18 01 81 01 00 00 81 01 00 00 [1800,01] Initiate Download Rq. expedited
Now the Identifier for of TxPDO1 is written: 0x181
4.1831 581 8 60 00 18 01 00 00 00 00 [1800,01] Initiate Download Rsp
Node 1 confirms the download
4.1840 601 8 23 01 18 01 81 02 00 00 81 02 00 00 [1801,01] Initiate Download Rq. expedited
Identifier for TxPDO2 is 0x281
4.2223 581 8 60 01 18 01 00 00 00 00 [1801,01] Initiate Download Rsp
4.2230 601 8 23 00 14 01 01 02 00 00 01 02 00 00 [1400,01] Initiate Download Rq. expedited
Identifier for RxPDO1 is 0x201
4.2347 581 8 60 00 14 01 00 00 00 00 [1400,01] Initiate Download Rsp
4.2356 601 8 2f 00 18 02 ff 00 00 00 ff [1800,02] Initiate Download Rq. expedited
Transmission type for TxPRO1 is 0xFF=255
4.2737 581 8 60 00 18 02 00 00 00 00 [1800,02] Initiate Download Rsp
4.2744 601 8 2f 01 18 02 ff 00 00 00 ff [1801,02] Initiate Download Rq. expedited
Transmission type for TxPRO2 is 0xFF=255
4.3133 581 8 60 01 18 02 00 00 00 00 [1801,02] Initiate Download Rsp
4.3141 601 8 2f 00 14 02 ff 00 00 00 ff [1400,02] Initiate Download Rq. expedited
Transmission type for RxPRO1 is 0xFF=255
4.3252 581 8 60 00 14 02 00 00 00 00 [1400,02] Initiate Download Rsp
4.3264 601 8 2b 17 10 00 64 00 00 00 64 00 [1017,00] Initiate Download Rq. expedited
Heartbeat Producer Time is 0x64=100ms
4.3279 581 8 60 17 10 00 00 00 00 00 [1017,00] Initiate Download Rsp
4.3287 601 8 23 16 10 01 2c 01 7f 00 2c 01 7f 00 [1016,01] Initiate Download Rq. expedited
Heartbeat Consumer Time ist 0x012C=300ms, Node ID des Heartbeat Producers (hier: FC5101) ist 0x7F
4.3304 581 8 60 16 10 01 00 00 00 00 [1016,01] Initiate Download Rsp
4.3312 601 8 23 00 55 00 00 00 ff ff 00 00 ff ff [5500,00] Initiate Download Rq. expedited
User Parameter: Index 0x5500, SI 0, Wert 0x00 00 FF FF
4.3321 701 1 7f T0 Preoperational
Node 1 sends first heartbeat telegram, FC5101 starts controlling
4.4679 581 8 60 00 55 00 00 00 00 00 [5500,00] Initiate Download Rsp
4.4686 601 8 2f 23 64 00 01 00 00 00 01 [6423,00] Initiate Download Rq. expedited
User Parameter: Index 0x6423, SI 0, Wert 0x01
4.4700 581 8 60 23 64 00 00 00 00 00 [6423,00] Initiate Download Rsp
4.4707 00 2 01 01 Start Node
Node 1 is transferred individually in operational
4.4717 701 1 7f T0 Preoperational
The next heartbeat telegram is sent before the status crossing is concluded
4.4986 181 1 00 00
Node 1 is operational and sends his TxPDO1 and TxPDO2
4.4989 281 4 00 00 00 00 00 00 00 00
4.5786 701 1 05 T0 Operational
4.6390 281 4 00 00 08 00 00 00 08 00
4.6411 281 4 00 00 00 00 00 00 00 00
4.6891 701 1 05 T0 Operational
4.7951 701 1 05 T0 Operational
4.9032 701 1 05 T0 Operational
5.0048 281 4 00 00 08 00 00 00 08 00
