Appendix B: Implementation Details
30 (36)
B
Implementation Details
B.1
SUP-Bit Definition
The supervised bit (SUP) indicates that the network participation is supervised by another net-
work device. CANopen specific interpretation:
SUP-bit
Interpretation
0
[LSS active]
- or -
[No error control mechanism is enabled]
1
[Heartbeat consumer
- and -
Heartbeat producer is enabled & error free]
- or -
[Node guarding is enabled & error free]
- and -
[LSS not active]
B.2
Anybus State Machine
The table below describes how the Anybus State Machine relates to the CANopen network
status.
Anybus State
CANopen NMT
State
Implementation
Comment
NW_INIT
NMT state
Initialization
The Anybus is performing a
network initialization.
The Anybus scans the appli-
cation for a possible CAN-
open Host Object. If there is
one, the data is read from the
object instances attributes.
If there is Read Process data
mapped, the Anybus starts
reading out the startup val-
ues from the ADIs to use
these as initial Read Process
Data.
The CANopen network proc-
ess data channel is not
active
Network specific application
objects may receive com-
mands from the Anybus.
The application shall regard
process data from network
as not valid
WAIT_PROCESS
PRE-
OPERATIONAL
Send Bootup Event
message on the bus
the first-time the
state is entered.
If a Guarding or
Heart beat error oc-
cur this state is
entered.
If LSS is enabled this
state is entered.
If there is no valid Node ad-
dress (set in the Network
Configuration Object) the
module enters the LSS init.
state. The Anybus will remain
in LSS init. state until a valid
Node ID is set from the
network.
If the Baud rate instance in
Network configuration object
is set to Auto, the module will
start to scan for the used
baud rate. It will stay in this
state until the node has de-
tected a baud rate or has
restarted.
The application shall regard
process data from the net-
work as not valid
IDLE
STOPPED
When NMT state
Stopped is entered
the communication
stops altogether (ex-
cept node guarding
and heartbeat, if
active).
The network device is in idle
mode
The application may act upon
received data or go to an idle
state
The process data is not valid.
PROCESS_ACTIVE
OPERATIONAL
Services on SDO,
PDO SYNC EMCY-
objects can be exe-
cuted on the node.
The network process data
channel is active and error
free
Normal data handling can be
performed.
Anybus
®
CompactCom
™
30 Network Guide
HMSI-168-78 EN 4.1
