ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN POUs to CANopen
261
Reset all nodes of the network via CAN telegram
8037
The same reasons which apply to a NMT command for starting of all nodes in an network, there are
cases you better should use a NMT command to reset all nodes (instead of a NMT command for every
individual node).
►
Call FB CANOPEN_NMTSERVICES (
→
):
- NODE = 0
- NMTSERVICE = 3
> This resets all nodes once at the same time.
Access to the status of the CANopen master
8038
You should poll the status of the master so that the application code is not processed before the IO
network is ready. The following code fragment example shows one option:
Variable declaration
VAR
FB_MasterStatus : CANOPEN_GETSTATE;
...
END_VAR
program code
If FB_MasterStatus.MASTERSTATE = 5 THEN
<application code>
END_IF
By setting a value to the input NODE of FB CANOPEN_GETSTATE (
→
) the application can
react and, for example, jump the non configurable node.
