ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN POUs to CANopen
258
NMT state for CANopen slave
9965
State
hex | dec
Description
FF
-1
The slave is reset by the NMT message "Reset Node" and automatically goes to state 1.
00 0
not
defined
01 1
state = waiting for BOOTUP
After max. 2 s or immediately on reception of its boot up message the slave goes to state 2.
02 2
state = BOOTUP
After a delay of 0.5 s the slave automatically goes to state 3.
03 3
state = PREPARED
The slave is configured in state 3. The slave remains in state 3 as long as it has received all SDOs generated by
the configurator. It is not important whether during the slave configuration the response to SDO transfers is
abort (error) or whether the response to all SDO transfers is no error. Only the response as such received by the
slave is important – not its contents.
If in the configurator the option "Reset node" has been activated, a new reset of the node is carried out after
transmitting the object 1011
16
sub-index 1 which then contains the value "load". The slave is then polled again
with the upload of the object 1000
16
.
Slaves with a problem during the configuration phase remain in state 3 or directly go to an error state (state > 5)
after the configuration phase.
04 4
state = PRE-OPERATIONAL
A node always goes to state 4 except for the following cases:
it is an "optional" slave and it was detected as non available on the bus (polling for object 1000
16
) OR:
the slave is present but reacted to the polling for object 1000
16
with a type in the lower 16 bits other than
expected by the configurator.
05 5
state = OPERATIONAL
State 5 is the normal operating state of the slave: [Normal Operation].
If the master was configured to [Automatic startup], the slave starts in state 4 (i.e. a "start node" NMT message
is generated) and the slave goes automatically to state 5.
If the flag GLOBAL_START was set, the master waits until all slaves are in state 4. All slaves are then started
with the NMT command [Start All Nodes].
61 97
A node goes to state 97 if it is optional (optional device in the CAN configuration) and has not reacted to the
SDO polling for object 1000
16
.
If the slave is connected to the network and detected at a later point in time, it is automatically started. To do so,
you must have selected the option [Automatic startup] in the CAN parameters of the master.
62
98
A node goes to state 98 if the device type (object 1000
16
) does not correspond to the configured type.
63 99
In case of a nodeguarding timeout the slave is set to state 99.
As soon as the slave reacts again to nodeguard requests and the option [Automatic startup] is activated, it is
automatically started by the master. Depending on the status contained in the response to the nodeguard
requests, the node is newly configured or only started.
To start the slave manually it is sufficient to use the method [NodeStart].
Nodeguard messages are transmitted to the slave ...
- if the slave is in state 4 or higher AND
- if nodeguarding was configured.
To read the node state out of the FB:
Used function block
Node state is found here
CANx_MASTER_STATUS
CANx_SLAVE_STATUS
output NODE_STATE
CANOPEN_GETSTATE output
NODESTATE
