HMS AB7307, User Manual

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CANopen Module Specification 25
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
6.2.1 Control Word
The control word is used to control the CANopen network of the Anybus X-gateway CANopen. It is
triggered on a CoS (Change of State) event.
Supported commands
The table below shows available commands and their representation in byte 0 of the control word.
When started, the module will initialize, and then automatically continue to the state PRE-OPERA-
TIONAL.
I/O data will only be exchanged if the module is in the state OPERATIONAL. To make this possible,
the PLC controlling the primary network will have to give the command “Set NMT State (OPERA-
Control Word Effective I/O Data
Byte 0 Byte 1 Byte 2 - 510
Toggle bit
a
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the controlling network each time a new com-
mand is issued.
Cmd, 3 bits CmdExt, 4 bits NodeID
b
b. If NodeID = 0, the command is valid only for the node that the module constitutes. If NodeID = 128 (80h), the com-
mand is valid for the complete secondary CANopen network. Any other NodeID value will specify the single node
that the command is valid for. If the Anybus X-gateway CANopen interface is configured as a slave on the second-
ary network the only allowed value of NodeID is 0.
Data
Toggle
bit
a
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the controlling network each time a new com-
mand is issued.
Cmd
(3 bits) CmdExt
(4 bits)
Name Master functionality Slave functionality
- 0h - (Set NMT State) This command sets the
NMT state of a CANopen
node or the CANopen net-
work, according to the value
of NodeID. The NMT state is set by the
controlling PLC. If the PLC is
running, the NMT state is set
to OPERATIONAL. If the
PLC is not running, the NMT
state is set to PRE-OPERA-
TIONAL.
b
Default: PRE-OPERA-
TIONAL
b. IMPORTANT: The PLC controlling the primary network has to set the X-gateway to OPERATIONAL using the
Control Word. If this has not been done, the X-gateway will decline an NMT Set Operational Command on the
secondary network by returning an emergency message with the error code FF10h. The same emergency mes-
sage will be sent when the X-gateway is reset to PRE-OPERATIONAL by the primary network.
0h PRE-OPERATIONAL
1h OPERATIONAL
2h RESET NODE
3h RESET COMMUNICATION
4h STOP
5h - Fh - (reserved)
1h Get Node state This command requests the state set in object 1F82h, see
38, of the CANopen node or network (depending on the
value of NodeID).
c d
c. If the module is configured as slave, only NodeID = 0 is allowed.
d. Only states of nodes monitored by node guarding or heartbeat can be read from object 1F82h.
2h Get COPM general status This command requests the general status of the CAN-
open module
3h - 6h (reserved)
7h - (No operation) No Operation
It is recommended to set Cmd to this value, when the mod-
ule goes offline from the fieldbus. This prevents unwanted
behavior of the CANopen network, when the fieldbus
comes back online.