PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021
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8
Internal SDO
Some SDOs have functionality in the PN/CAN Gateway that influence the behavior of the gateway or
represent it´s state.
8.1
Start-up behavior SDO 2FFF
This SDO is used to configure the start-up and restart behavior of the PN/CAN Gateway. It can be set
accordingly in the EDS/DCF file. Only subindex 0 is available.
Bit
31
30
29
28
27
26
25
24
0
0
0
0
0
0
0
0
Bit
23
22
21
20
19
18
17
16
0
0
0
0
0
0
0
0
Bit
15
14
13
12
11
10
9
8
3
1
1
3
1
1
Bit
7
6
5
4
3
2
1
0
0
1
0
0
Behavior upon NMT command from CAN bus:
0 = “Operational” if configured
1 = PLC Run is needed for “Operational”
2 = NMT limitation by PLC active
8.2
Status SDO 2FFE
Contains the first two bytes of the PN/CAN Gateway status as shown in the PLC (see chapter 7.2).
8.3
Error register SDO 1001
Bit
7
6
5
4
3
2
1
0
PLC
configurati
on error
PROFINET
not
connected
PLC in
Stop
-
PDO length
wrong
Heartbeat
Timeout
Nodeguarding
Timeout
Always 1,
if there is
an error
8.4
Error memory SDO 1003
The error memory holds up to 16 entries in 32 bit format, subindex 1 contains the most recent entry,
subindex 16 the oldest entry.
8.5
Node-ID SDO 100B
The SDO contains the active Node-ID of the CANopen slave in sub-index 0. If necessary, the Node-ID
can be written by the PLC before the CANopen Device on the CAN bus becomes active.
