CANopen Module Specification
25
Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
6.2.2 Status Word
Byte 0 in the status word shows the last valid command and command extension written to the control
word, to indicate that the command has been performed. It also gives the lowest NodeID with error. If
NodeID is 0, all nodes are fine. If NodeID is for example 5, it means that there is an error with node 5.
Only NodeIDs, with errors, from nodes monitored by the heartbeat mechanism or by node guarding
will be reported.
Supported commands
The table below shows available command responses and their representation in byte 0 of the status
word.
Status 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 module to mirror the toggle bit of the
control word.
Cmd Rsp, 3 bits CmdExt, 4 bits Error Node Data
Toggle
bit
a
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the module to mirror the toggle bit of the control
word.
CmdRsp
(3 bits)
CmdExtRsp
(4 bits)
Name
Master Slave
-
0h
-
(Set NMT State)
Response to Set NMT
State command. Reflects
the command.
Response to Set NMT State
command. Reflects the
command.
0h
PRE-OPERATIONAL
1h
OPERATIONAL
2h
RESET NODE
3h
RESET COMMUNICATION
4h
STOP
5h - Fh
-
(reserved)
1h
-
(Get Node state)
This response reflects the
state. set in object 1F82h,
see 36, of a CANopen
node or network (depend-
ing on the value of
NodeId).
This response reflects the
state. set in object 1F82h,
see 36, of the modules
CANopen interface.
0h
PRE-OPERATIONAL
1h
OPERATIONAL
2h
RESET NODE
3h
RESET COMMUNICATION
4h
STOP
5h
UNKNOWN
6h
MISSING
7h - Eh
-
Fh
ERROR
2h
Bit:
(Get COPM general status) This response requests the CANopen status of the mod-
ule
0
CAN_BUS_OFF
Bus off
1
CAN_ERR_PASV
Error passive
2
ERR_NG_HB
Node guarding or Heartbeat error
3
ERR_SYNC
Sync error
3h - 6h
(reserved)
7h
-
(No operation)
Reflects the command
