CANopen Supported Objects
34
Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
NMT Start-up, 1F80h
If a device is to be set up as NMT Master, the master functionality must be enabled in this object. It
configures the start-up behavior of the device, and how it will manage the slaves.
Note
: The Anybus X-gateway CANopen starts up as a slave (bit 0 = 0). For the module to perform as
a master, change the value of this bit during configuration and save it to non-volatile flash memory by
issuing “save” command to sub-index 01h in object 1010 (Store Parameters). The setting will take im-
mediate effect, but if not saved, it will be lost at reset or repower.
Bit No.
Value
Description
Notes
0
0
NMT Master functionality is disabled. Ignore the rest of the
object, except for bits 1 and 3. Ignore object 1F81h.
Default
1
NMT Master functionality is enabled. The device is Master
1
0
Start only explicitly assigned slaves (if bit 3 = 0)
Default
1
After boot-up, perform the service NMT Start Remote Node
All Nodes (if bit 3 = 0)
2
0
Automatically enter Operational state
Default
1
Do not enter Operational state automatically. Application will
decide when to enter Operational state
3
0
Start-up of slaves allowed (i.e. allowed to send NMT Start
Remote Node command)
Default
1
Not allowed to send NMT Start Remote Node command. The
application will start the slaves
4
0
If a mandatory slave generates an Error Control Event, treat
the slave individually
If bit 6 = 1, ignore bit 4
If object 1F81h, bit 3 = 1, the
network must not be restarted,
if a mandatory slave could not
be contacted.
1
If a mandatory slave generates an Error Control Event, per-
form NMT Reset All Nodes (including self)
5
-
Not implemented
6
0
If a mandatory slave generates an Error Control Event, treat
the slave according to bit 4
1
If a mandatory slave generates an Error Control Event, send
NMT Stop All Nodes (including self). Ignore bit 4
7 - 31
-
Reserved (0)
