CANopen Module Specification
24
Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
6.2.1 Control Word
The control word is used to control the CANopen network of the Anybus X-gateway CANopen. It is
triggered on a CoS (Change of State) event.
Supported commands
The table below shows available commands and their representation in byte 0 of the control word.
When started, the module will initialize, and then automatically continue to the state
PRE_OPERATIONAL.
I/O data will only be exchanged if the module is in the state OPERATIONAL.
The command RESET NODE will restore the module to a previous downloaded configuration. RE-
SET COMMUNICATION will restore the communication settings of the module. In both cases the
module will return to the INITIALIZATION state.
Control Word
Effective I/O Data
Byte 0
Byte 1
Byte 2 - 510
Toggle bit
a
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the controlling network each time a new com-
mand is issued
Cmd, 3 bits
CmdExt, 4 bits NodeID
b
b. If NodeID = 0, the command is valid only for the node that the module represents. If NodeID = 128, the command
is valid for for the complete CANopen network. Any other NodeID value will specify the single node that the com-
mand is valid for. If the Anybus X-gateway CANopen interface is configured as a slave the only allowed value of
NodeID is 0.
Data
Toggle
bit
a
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the controlling network each time a new com-
mand is issued.
Cmd
(3 bits)
CmdExt
(4 bits)
Name
Master functionality
Slave functionality
-
0h
-
(Set NMT State)
This command sets the
NMT state of a CANopen
node or the CANopen net-
work, according to the value
of NodeID.
The NMT state is set by the
controlling PLC. If the PLC is
running, the NMT state is set
to OPERATIONAL. If the
PLC is not running, the NMT
state is set to PRE-OPERA-
TIONAL.
Default: PRE-OPERA-
TIONAL
0h
PRE-OPERATIONAL
1h
OPERATIONAL
2h
RESET NODE
3h
RESET COMMUNICATION
4h
STOP
5h - Fh
-
(reserved)
1h
Get Node state
This command requests the state set in object 1F82h, see
36, of the CANopen node or network (depending on the
value of NodeId).
b
b. If the module is configured as slave, only NodeId = 0 is allowed.
2h
Get COPM general status
This command requests the general status of the CAN-
open module
3h - 6h
(reserved)
7h
-
(No operation)
No Operation
It is recommended to set Cmd to this value, when the mod-
ule goes offline from the fieldbus. This prevents unwanted
behavior of the CANopen network, when the fieldbus
comes back online.
