IFM Electronic Ecomat 100 ecomatmobile SmartController CR2500, System Manual

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ifm System Manual ecomat mobile SmartController (CR2500, CR2502) V05
CAN in the ecomatmobile controller ifm CANopen library
Nodeguarding/heartbeat error
State Description
99 In case of a nodeguarding timeout the variable NODE_STATE in the array
NODE_STATE_SLAVE of the function CANx_MASTER_STATUS (
→
page 123 ) is set
to 99.
As soon as the node reacts again to nodeguard requests and the option [Automatic
startup] is activated, it is automatically started by the master. Depending on the status
contained in the response to the nodeguard requests, the node is newly configured or
only started.
To start the slave manually it is sufficient to use the method "NodeStart".
The same applies to heartbeat errors.
The current CANopen state of a node can be called via the structure element LAST_STATE from the
array NODE_STATE_SLAVE of the function CANx_MASTER_STATUS.
State Description
0 The node is in the boot up state.
4 The node is in the PREPARED state.
5 The node is in the OPERATIONAL state.
127 The node is in the PREOPERATIONAL state.
8.7.3 Start-up of the network without [Automatic startup]
Sometimes it is necessary that the application determines the instant to start the CANopen slaves. To
do so, the option [Automatic startup] of the CAN master must be deactivated in the configuration. It is
then up to the application to start the slaves.
To start a slave via the application, the structure element START_NODE in the array
NODE_STATE_SLAVES must be set.
The array is assigned to the function CANx_MASTER_STATUS via the ADR operator.
Starting the network with GLOBAL_START
In a CAN network with many participants (in most cases more than 8) it often happens that NMT
messages in quick succession are not detected by all (mostly slow) IO nodes (e.g. CompactModules
CR2013). The reason for this is that these nodes must listen to all messages with the ID 0. NMT
messages transmitted at too short intervals overload the receive buffer of such nodes.
A help for this is to reduce the number of NMT messages in quick succession.
► To do so, set the input GLOBAL_START of the function CANx_Master_STATUS (
→
page 123 ) to
TRUE (with [Automatic startup]).
> The CANopen master library uses the command "Start All Nodes" instead of starting all nodes
individually using the command "Start Node".
> GLOBAL_START is executed only once when the network is initialised.
> If this input is set, the controller also starts nodes with status 98 (see above). However, the PDOs
for these nodes remain deactivated.