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Operating Instructions
Chapter
5
Flexi Classic Gateways
8011834/YT28/2016-03-15
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
39
Subject to change without notice
CANopen Gateway
5.2.14
Reset communication
This NMT service triggers a re-initialisation of the CANopen functionality in the NMT slave;
the toggle bit for the node guarding is set to 0.
5.2.15
SYNC
The Sync object causes all TxPDOs for a CANopen slave to be sent. It is therefore possible
to poll the inputs on the slave using Sync.
CAN-ID
DLC
DATA
80h
0
The slave sends all input values when this message arrives. All TxPDOs are sent. Also the
unused TxPDO1 to TxPDO4 are sent with the length 0 (DLC=0).
To ensure the slave automatically sends the actual input values on the receipt of a Sync,
the transmission type for the related PDOs must be set to 0 (acyclic, synchronous). This is
the default. In addition, the operating mode must be set to “Operational”.
For the TxPDO it is possible to change the transmission type using the SDOs 1800..1803
(PDO communication parameter) and the sub-object 2. Allowed are the types:
acyclic/synchronous = 0
cyclic/synchronous = 1..240
acyclic by device profile = 255 (only for TPDO1-4, digital inputs)
5.2.16
Node-guarding
An NMT master (e.g. a PLC with integrated CANopen master) uses the object NMT-Error-
Control to detect the failure of an NMT slave with the address N. The NMT slave replies
within the node guarding time to the request from the NMT master. The node guarding
time must be monitored by the NMT master.
Request from NMT master:
CAN-ID
RTR
DLC
DATA
700h + N
1
0
Response from slave:
CAN-ID
DLC
DATA
700h + N
0
BYTE1
The NMT master sends a CAN message with the identifier <700h + node-id> and RTR bit
set (Remote Transmission Request). The slave then sends a status byte B1 with the
following contents:
Bit
Meaning
7
Toggle bit, changes value between two sequential requests
6..0
NMT-Status
4 = Stopped
5 = Operational
127 = Pre-Operational
Tab. 47: Polling inputs using
SYNC
Tab. 48: Request from NMT
master:
Tab. 49: Response from
slave:
Tab. 50: Remote
Transmission Request