HMS AB7307, User Manual

Page: 44 / 55

CANopen Supported Objects 39
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
Request Guarding, 1F83h
Guarding can be initiated from the object dictionary in a similar way. Guarding is initiated with the values
stored in “Slave Assignment, 1F81h” on page 37, provided that at the same time no parameters are en-
tered for that node as a Heartbeat Consumer
Note : This functionality is only supported in master mode.
Example:
• Guarding should be started for node 5 (500 ms, Life Time Factor 3):
An SDO write access with the value 01F40301h is executed to object 1F81h subindex 5 in the
local object dictionary. Guarding is activated by an SDO write access with the value 1 to object
1F83h subindex 5 in the local object dictionary.
Device Type Identification, 1F84h
Each node on the CANopen network is checked against its expected device type. The subindex indicates
which node is checked:
Vendor Identification, 1F85h
Each node on the CANopen network is checked against its expected vendor. The subindex indicates
which node is checked:
Subindex Description Access
0 Largest subindex supported (128) RO
i (with i = 1...127) Request Guarding for the slave with Node ID i RW
128 Request Start/Stop Guarding for all nodes. WO
Value Write access Read access
1 Start guarding Slave is guarded
0 Stop guarding Slave is not guarded
Bits Value Explanation
31 - 16 01F4h (500) The interval with which node 5 will be guarded
15 - 8 03h If node 5 does not answer the guarding will be repeated another
RetryFactor -1 times (in this case twice)
7 - 0 01h This value indicates that node 5 is a slave
Subindex Description
0 Largest subindex supported (127)
i (with i = 1...127) If the expected device type is not 0 or if the slave is set as mandatory, the module compares
expected device type with actual device type (object 1000h, subindex 0) for the slave with
Node ID i. If the expected device type is 0, this only gives information about the existence of a
node, not which device type it is. If the value is not 0, it is compared to the value read from the
node, and boot up of that slave is continued if they match. If they don’t match, the slave will
stay in state PRE-OPERATIONAL.
Subindex Description
0 Largest subindex supported (127)
i (with i = 1...127) Compares expected vendor with actual vendor (object 1018h, subindex 1) for the slave with
Node ID i. Boot up of that slave is continued only if they match. If they don’t match, the slave
will stay in state PRE-OPERATIONAL.