CANopen Supported Objects
36
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
NMT Start-up, 1F80h
If a device is to be set up as NMT Master, the master functionality must be enabled in this object. It
configures the start-up behavior of the device, and how it will manage the slaves.
Note
: The Anybus X-gateway CANopen starts up as a slave (bit 0 = 0). For the module to perform as
a master, change the value of this bit during configuration and save it to non volatile flash memory by
issuing “save” command to subindex 01h in object 1010 (Store Parameters). The setting will take imme-
diate effect, but if not saved, it will be lost at reset or repower.
Bit No.
Value
Description
Notes
0
0
NMT Master functionality is disabled. Ignore the rest of the
object, except for bits 1 and 3. Ignore object 1F81h.
Default
1
NMT Master functionality is enabled. The device is Master
1
0
Start only explicitly assigned slaves (if bit 3 = 0)
Default
1
After boot-up, perform the service NMT Start Remote Node
All Nodes (if bit 3 = 0)
2
0
Automatically enter Operational state
Default
1
Do not enter Operational state automatically. Application will
decide when to enter Operational state
3
0
Start-up of slaves allowed (i.e. allowed to send NMT Start
Remote Node command)
Default
1
Not allowed to send NMT Start Remote Node command. The
application will start the slaves
4
0
If a mandatory slave generates an Error Control Event, treat
the slave individually
If bit 6 = 1, ignore bit 4
If object 1F81h, bit 3 = 1, the
network must not be restarted,
if a mandatory slave could not
be contacted.
1
If a mandatory slave generates an Error Control Event, per-
form NMT Reset All Nodes (including self)
5
-
Not implemented
6
0
If a mandatory slave generates an Error Control Event, treat
the slave according to bit 4
1
If a mandatory slave generates an Error Control Event, send
NMT Stop All Nodes (including self). Ignore bit 4
7 - 31
-
Reserved (0)
Summary of Contents for AB7307
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