Wieland samos PRO, Manual

Page: 132 / 192

CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
132
CAN-ID DLC DATA
OP NMT command Explanation
01h Go to "Operational" The operational state is reached from the "pre-
operational" state. Communication via PDOs is pos-
sible in this state and the CANopen slave responds to
sync commands.
Note:
During the transition to the NMT operational
state, each slave sends a TxPDO with the transmission
type = 255, so that the NMT master is informed about
the current input configuration.
02h Go to "Prepared/Stopped"
Communication via SDO or PDO is not possible in this
state and the device also does not respond to sync
commands.
81h Go to "Reset node" This will trigger a re-initialization of the CANopen
function in the NMT slave.
82h Go to "Reset communication" This will trigger a re-initialization of the CANopen
function in the NMT slave; the toggle bit for node
guarding is set to 0.
Example for resetting all communication:
The following NMT object (CAN-ID = 00h) contains 2 data bytes (DLC = 2). Data byte 1 contains the
command "Reset communication" (82h), data byte 2 addresses this command to all devices in the
CANopen network (address = 0):
Table 91: Example of an NMT object for resetting all communication
CAN-ID DLC DATA
00h 2 82h 0
SYNC
78621835
The SYNC command results in all TxPDOs of a CANopen slave being sent. It is thus possible to
prompt the slave with the aid of SYNC.
Table 92: Prompting of inputs with the aid of SYNC
CAN-ID DLC DATA
80h 0
The slave sends all input values when he receives this command. All TxPDOs are sent.
To ensure that the slave automatically sends the current input values when receiving a SYNC com-
mand, the transmission type for the relevant PDOs must be set to 1 (cyclic, synchronous). In additi-
on, the device must be in the "operational" state.
It is possible to amend the transmission type for the TxPDOs with the aid of the SDOs 1800 … 1803
(PDO communication parameter) and to amend Sub-Object 2. The following types are permitted:
• Acyclic/synchronous = 0
• Cyclic/synchronous = 1 = 1 ... 240
• Acyclic once device profile = 255 (only for TxPDO 1 … 4, digital inputs)
10.5