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6.6
CANopen Live List Functionality
Anybus X-gateway CANopen provides a list of the active status of the slave nodes attached to the
secondary network CANopen master. The list is assembled by the master and forwarded to the
primary network during each cycle.
This feature is disabled by default and can be enabled through the CANopen network
configuration software, see
Enabling Live List in Anybus Configuration Manager, p. 43
Live List Usage
The Live List consists of 16 bytes and holds bit coded status information for CANopen slave nodes
1–127.
Bit set (1)
Device active — State OPERATIONAL
Bit cleared (0)
Device not active — States INITIALIZATION, PRE-OPERATIONAL or STOPPED.
Offset
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Device number
0
7
6
5
4
3
2
1
ALL
a
1
15
14
13
12
11
10
9
8
2
23
22
21
20
19
18
17
16
3
31
30
29
28
27
26
25
24
4
39
38
37
36
35
34
33
32
5
47
46
45
44
43
42
41
40
6
55
54
53
52
51
50
49
48
7
63
62
61
60
59
58
57
56
8
71
70
69
68
67
66
65
64
9
79
78
77
76
75
74
73
72
10
87
86
85
84
83
82
81
80
11
95
94
93
92
91
90
89
88
12
103
102
101
100
99
98
97
96
13
111
110
109
108
107
106
105
104
14
119
118
117
116
115
114
113
112
15
127
126
125
124
123
122
121
120
a.
Bit 0 in Offset 0 indicates 1 if all monitored nodes are in OPERATIONAL state, else it will be 0.
Only operational/non-operational state will be presented in the Live List. Error passive state will
not be detected, but BUSOFF will also result in heartbeat/node guarding errors and will be
reflected in the live list.
The control/status word allocates 2 bytes in the input/output area by default and is always
enabled. If the Live List is enabled, an additional 16 bytes will be allocated in the IO area, starting
at the next available address after the status word.
Anybus
®
X-gateway
™
CANopen
®
PROFINET
®
IRT (2.32) User Manual
SCM-1202-029 1.2 en-US
Содержание Anybus X-gateway CANopen
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