PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021
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NMT Limitation:
Defines the state up to which the CANopen Device can be switched directly from
the CANopen network. This setting can be used, for example, to prevent the CANopen network from
switching the Device directly to Operational even though the application is not yet ready from the
PROFINET side.
Value 0: Limitation in Boot-Up
Value 1: the slave is only switchable until Pre-Operational
Value 2: the slave is only switchable until stop
Value 3: the slave can be switched operational
The slave control of the NMT states can be executed either by state change command from the PLC or
via the CANopen master with an adjustable NMT limitation.
Which control type is active can be configured in SDO 2FFF/0 via the EDS/DCF file, see chapter 8.1.
SYNC Acknowledge:
Acknowledgement of the SYNC indication toggle bit in status byte 1, bit 3.
In case of inequality with SYNC indication, the consistent input data must be stored in the PLC and
then this bit must be set equal to the SYNC indication bit.
Reset bit “SYNC lost”:
Reset the error bit "SYNC lost" in status byte 1, bit 2.
7.2
Status
The status of the PN/CAN Gateway consists of 7 input bytes.
Byte/Bit
7
6
5
4
3
2
1
0
In 0
Gateway
operation
al
Display of NMT command from CAN:
1 = Pre-Operational / 2 = Stop /
3 = Operational /
4 = COM-Reset / 5 = Reset
Mirroring of the PLC command
In 1
-
1 = CAN-Bus
not connected
Active device state:
0 = Initialization
1 = Pre-Operational
2 = Stop
3 = Operational
SYNC-
Indication
(Toggle bit)
SYNC lost
Mirror of NMT
limitation
In 2
CAN receive error counter
In 3
CAN send error counter
In 4
First slot number with parameterization error
In 5
In 6
Configuration error number
Gateway operational
indicates that the PN/CAN Gateway is configured and addressable. The bit is
also set if the configuration is incorrect.
Display of NMT command from CAN:
Display of the last NMT command received via CAN bus.
Mirroring of the PLC command:
Display of the "command state change" received from the PLC
CAN-Bus not connected:
no other participant recognizable or wire break detected
Active device state:
actual NMT status of the CANopen device
