IFM ecomatmobile ecomat100 CR1080, Системное руководство

Страница: 295 / 463

ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN POUs to CANopen
295
Parameters of the outputs
7869
Parameter Data type Description
Master state = internal state of the master:
0
10
00
16
master is booting up
4
10
04
16
configuration of the nodes is running
5
10
05
16
normal operating status of the master
MASTERSTATE BYTE
255
10
FF
16
when PLC runs as slave
PLCNODEID BYTE PLC node ID = node ID of the controller the program is running on
value = 0...127
10
= 0...7F
16
PLCBAUDRATE DWORD Output of the baud rate of the PLC
PLCVERSION DWORD Controller version
CANSTATE BYTE CAN state = status of CANopen network
Controller operated as master:
Node ID = 0 (controller itself):
00
10
= 00
16
= OK
128
10
= 80
16
= bus off
Node ID ≠ 0 (node):
00
10
= 00
16
= OK
01
10
= 01
16
= guarding or heartbeat error on node
128
10
= 80
16
= bus off
Controller operated as slave:
00
10
= 00
16
= OK
01
10
= 01
16
= guarding or heartbeat error
128
10
= 80
16
= bus off
Node state = internal node state of a slave seen from the master's
perspective. The input NODEID identifies the node.
-1
10
FF
16
reset to ResetNode
1
10
01
16
waiting for BOOTUP
2
10
02
16
after receiving BOOTUP message
3
10
03
16
not yet configured: PREPARED
4
10
04
16
after the configuration with SDOs: PRE-
OPERATIONAL
5
10
05
16
after starting the node: OPERATIONAL
97
10
61
16
optional node
98
10
62
16
configured device type is different from
the one in
1000
16
NODESTATE BYTE
99
10
63
16
node guarding
Last node state
Node state according to CANopen (with these values, the state is
coded from the node also in the according messages).
0
10
00
16
BOOTUP
4
10
04
16
PREPARED
5
10
05
16
OPERATIONAL
LASTNODESTATE BYTE
127
10
7F
16
PRE-OPERATIONAL
RESULT BYTE feedback of the function block
(possible messages

following table)