HMS AB7307, User Manual

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CANopen Module Specification 26
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
TIONAL)” in the control word. If the module is set as master, it will then administer the secondary net-
work. If the module is set as slave, it will answer to any request from the master of the secondary network
to participate in the communication on that network (see footnote in the table above).
The command RESET NODE will restore the module to a previously downloaded configuration. RE-
SET COMMUNICATION will restore the communication settings of the module. In both cases the
module will return to the INITIALIZATION state.
Examples
6.2.2 Status Word
Byte 0 in the status word shows the last valid command and command extension written to the control
word, to indicate that the command has been performed. Byte 1 gives the lowest NodeID with error.
Please note that there can be one or more nodes, with higher NodeIDs, that also have errors. If NodeID
is 0, all nodes are fine. If NodeID is for example 5, it means that there is an error with node 5.
Only errors from nodes monitored by the heartbeat mechanism or by node guarding will be reported.
Errors from other slaves can not be recognized.
Master/
Slave
Control Word
a
a. The first bit in the control word is toggled for each new command, e.g. changing the first byte from 01h to 81h
Meaning
Slave 01 00h 01h:
00h: Allow the module to go to OPERATIONAL if asked by an NMT master.
The command is only valid for the module itself.
Master 01 80h 01h
80h Start remote node in the secondary network.
The command is valid for all nodes in the secondary network.
01 02h 01h
02h Start remote node.
The command is valid for node 2.
04 80h 04h
80h Stop remote node.
The command is valid for all nodes in the secondary network.
Status 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 module to mirror the toggle bit of the
control word.
Cmd Rsp, 3 bits CmdExt, 4 bits Error Node Data