HMS Anybus X-gateway CANopen, Руководство пользователя

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CANopen Object Implementation 49 (60)
Slave Assignment, 1F81h
This object defines which slaves the Master should monitor, control and/or configure. One entry
is made for each assigned slave, with the subindex corresponding to the slave’s NodeID.
Bit Value Description
0 0 Node with this ID is not a slave.
1 Node with this ID is a slave. After configuration the node will be set to Operational .
1
-
Reserved
2 0
On an Error Control Event or on detection of a new slave, inform the application, but do NOT
configure and start the slave.
1
On an Error Control Event or on detection of a new slave, inform the application and start the
process
Start Boot Slave .
3 0
Optional slave. The network may be started even if this node could not be contacted.
1 Mandatory slave. The network must not be started if this node could not be contacted during the
boot slave process.
4
-
Not implemented
5
-
Not implemented
6
-
Not implemented
7 0 CANopen device may be used without reset to default.
1 CANopen device shall be reset to factory defaults by issuing a restore to defaults (object 1011h).
8 - 15
-
8 bit value for the RetryFactor .
16 - 31
-
16 bit value for the GuardTime .
If a slave does not answer, the master will retry the request RetryFactor -1 times with an interval
of GuardTime . Guarding will be performed only if non-zero values are entered for Retry Factor and
GuardTime .
Request NMT, 1F82h
Each node on the CANopen network can be controlled individually from the fieldbus application
by sending this object. The subindex indicates what nodes the request affects:
Subindex Description
0
Largest subindex supported (128)
i (with i = 1...127) Request NMT Service for the slave with NodeID i.
128 Request NMT Service for all nodes
The entire network can be started with one command (subindex 128)
Examples:
• Node 5 should be transferred to the OPERATIONAL state:
An SDO write access with the value 5 is executed to object 1F82h subindex 5 in the local
object dictionary. When an NMT command is sent, data is cleared.
• All nodes in the network should be transferred to the PRE-OPERATIONAL state:
An SDO write access with the value 127 is executed to object 1F82h subindex 128 in the
local object dictionary.
Anybus ® X-gateway ™ CANopen ® PROFINET ® IRT (2.32) User Manual
SCM-1202-029 1.2 en-US