HMS Anybus X-gateway CANopen, Руководство пользователя

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CANopen Module Specification 37 (60)
6.2.3 Control/Status Word Example
This example shows two control words sent from the master on the primary network to the
Anybus X-gateway CANopen.
Each Control Word includes a command that affects the secondary CANopen network, and is
acknowledged by a status word containing a response to the command.
The first bit in the Control Word is toggled when a new command is sent, to make sure it is
distinguished from the previous command.
Primary 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.
Fig. 25 Control/Status Word example
Anybus ® X-gateway ™ CANopen ® PROFINET ® IRT (2.32) User Manual
SCM-1202-029 1.2 en-US