ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN POUs to CANopen
287
9.6.3
CANopen network management
State diagram of a CANopen node ........................................................................................... 287
CANOPEN_NMTSERVICES .................................................................................................... 288
CANOPEN_GETNMTSTATESLAVE ........................................................................................ 290
CANOPEN_SETSTATE............................................................................................................ 292
CANOPEN_GETSTATE ........................................................................................................... 294
CANOPEN_SETSYNCSTATE.................................................................................................. 297
CANOPEN_GETSYNCSTATE ................................................................................................. 299
CANOPEN_GETBUFFERFLAGS............................................................................................. 301
CANOPEN_GETGUARDHBERRLIST...................................................................................... 303
CANOPEN_GETGUARDHBSTATSLV ..................................................................................... 305
CANOPEN_GETODCHANGEDFLAG ...................................................................................... 307
CANOPEN_READOBJECTDICT.............................................................................................. 309
CANOPEN_WRITEOBJECTDICT ............................................................................................ 311
7839
The following function blocks carry out the network management services according to CANopen.
State diagram of a CANopen node
7840
On the basis of the internal lists the network management checks whether a requested change of
state is permitted. If the transition is not allowed, the command is not sent but an error message is
provided.
Graphic: state transitions under CANopen
Permitted transitions:
(1) State is automatically reached at power
on
(2) Internal initialisation completed – node
automatically goes to PRE-OPERATIONAL
(3) NMT service "Start Remote Node
Indication"
(4) + (7) NMT service "Enter PRE-
OPERATIONAL Indication"
(5) + (8) NMT service "Stop Remote Node
Indication"
(6) NMT service "Start Remote Node
Indication"
(9)...(11) NMT service "Reset Node
Indication"
(12)...(14) NMT service "Reset
Communication Indication"
The function block then checks whether the change of state on the node was successful provided that
this is supported by the protocol.
The CANopen state of the controller is handled in the CANopen stack. If the controller runs in the
slave mode and receives NMT commands from its master, they will be handled and managed in the
CANopen stack. Therefore the states and the resetting of the respective flags no longer have to be
handled in the application program.