HMS AB7307, User Manual

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CANopen Module Specification 27
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
Supported commands
The table below shows available command responses and their representation in byte 0 of the status
word.
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.
CmdRsp
(3 bits) CmdExtRsp
(4 bits)
Name Master Slave
- 0h - (Set NMT State) Response to Set NMT
State command. Reflects
the command. Response to Set NMT State
command. Reflects the
command.
0h PRE-OPERATIONAL
1h OPERATIONAL
2h RESET NODE
3h RESET COMMUNICATION
4h STOP
5h - Fh - (reserved)
1h - (Get Node state) This response reflects the
state set in object 1F82h,
see 38, of a CANopen
node or network (depend-
ing on the value of
NodeID). This response reflects the
state set in object 1F82h,
see 38, of the module’s
CANopen interface.
0h PRE-OPERATIONAL
1h OPERATIONAL
2h RESET NODE
3h RESET COMMUNICATION
4h STOP
5h UNKNOWN
6h MISSING
7h - Eh -
Fh ERROR
2h Bit: (Get COPM general status) This response requests the CANopen status of the mod-
ule
0 CAN_BUS_OFF Bus off
1 CAN_ERR_PASV Error passive
2 ERR_NG_HB Node guarding or Heartbeat error
3 ERR_SYNC Sync error
3h - 6h (reserved)
7h - (No operation) Reflects the command