CANopen Module Specification
26
Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
6.2.3 Example
The example shows two control words from the controlling network master to the module. Each con-
trol word includes a command that affects the CANopen subnetwork. Each control word is acknowl-
edged by a status word, that contains a response to the command. Note that the first bit in the control
word is toggled when a new command is sent, to make sure it is distinguished from the previous com-
mand.
Network master
Anybus X-gateway CANopen module
Control word [0x01 0x02]
Status word [0x01 0x00]
Command
Response
Command
(Set node with
Node ID 2 to
OPERATIONAL)
New command
(Set node with
Node ID 3 to
OPERATIONAL)
Response
Command
Response
Control word [0x81 0x03]
Status word [0x81 0x00]
Response
Control word [0x01 0x02]
Status word [0x01 0x00]
(*)
(*) The communication is performed in an ongoing ping-pong fashion. The same command is sent
repeatedly, but as long as the toggle bit is not changed, the module will ignore the message. A new
command is signalled by the toggle bit changing value.
