HMS Anybus X-gateway CANopen, Руководство пользователя

Страница: 52 / 62

CANopen Object Implementation 50 (60)
Request Guarding, 1F83h
Guarding can be initiated from the object dictionary in a similar way. Guarding is initiated with
the values stored in
Slave Assignment, 1F81h, p. 49 , provided that at the same time no
parameters are entered for that node as a Heartbeat Consumer.
This functionality is only available in master mode.
Subindex Description
Access
0 Largest subindex supported (128) RO
i (with i = 1...127) Request Guarding for the slave with NodeID i
RW
128
Request Start/Stop Guarding for all nodes.
WO
Example:
• Guarding should be started for node 5 (500 ms, Life Time Factor 3):
An SDO write access with the value 01F40301h is executed to object 1F81h subindex 5 in
the local object dictionary. Guarding is activated by an SDO write access with the value 1 to
object 1F83h subindex 5 in the local object dictionary.
Bits
Value Explanation
31 - 16 01F4h (500) The interval with which node 5 will be guarded
15 - 8 03h If node 5 does not answer the guarding will be repeated another RetryFactor
-1 times (in this case twice)
7 - 0
01h This value indicates that node 5 is a slave
Device Type Identification, 1F84h
Each node on the CANopen network is checked against its expected device type. The subindex
indicates which node is checked:
Subindex
Description
0
Largest subindex supported (127)
i (with i = 1...127) If the expected device type is not 0 or if the slave is set as mandatory, the module compares
expected device type with actual device type (object 1000h, subindex 0) for the slave with
NodeID i. If the expected device type is 0, this only gives information about the existence of a
node, not which device type it is. If the value is not 0, it is compared to the value read from
the node, and boot up of that slave is continued if they match. If they don’t match, the slave
will stay in state PRE-OPERATIONAL.
Vendor Identification, 1F85h
Each node on the CANopen network is checked against its expected vendor. The subindex
indicates which node is checked:
Subindex
Description
0
Largest subindex supported (127)
i (with i = 1...127) Compares expected vendor with actual vendor (object 1018h, subindex 1) for the slave with
NodeID i. Boot up of that slave is continued only if they match. If they don’t match, the slave
will stay in state PRE-OPERATIONAL.
Anybus ® X-gateway ™ CANopen ® PROFINET ® IRT (2.32) User Manual
SCM-1202-029 1.2 en-US