IFM PDM360NG Series, Системное руководство

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ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN POUs to CANopen
260
Start-up of the network without [Automatic startup]
Starting the network with GLOBAL_START ............................................................................. 260
Starting all nodes of the network via CAN telegram ................................................................. 260
Reset all nodes of the network via CAN telegram .................................................................... 261
Access to the status of the CANopen master ........................................................................... 261
8034
Sometimes it is necessary that the application determines the instant to start the CANopen slaves. To
do so, you must use the FB CANOPEN_NMTSERVICES (
→ page 288 ).
Starting the network with GLOBAL_START
8035
In a CAN network with many participants (in most cases more than 8) it often happens that NMT
messages in quick succession are not detected by all (mostly slow) IO nodes (e.g. CompactModules
CR2013). The reason for this is that these nodes must listen to all messages with the ID 0. NMT
messages transmitted at too short intervals overload the receive buffer of such nodes.
A help for this is to reduce the number of NMT messages in quick succession.
► To do so, call FB CANOPEN_SETSTATE ( → page 292 ):
- GLOBALSTART = TRUE (with [Automatic startup])
> The CANopen master library uses the command "Start All Nodes" instead of starting all nodes
individually using the command "Start Node".
> GLOBALSTART is executed only once when the network is initialised.
> If this input is set, the controller also starts nodes with status 98 (see above). However, the PDOs
for these nodes remain deactivated.
Starting all nodes of the network via CAN telegram
8036
If the network is not automatically started with GLOBALSTART of CANOPEN_SETSTATE
(
→ page 292 ), it can be started at any time, i.e. every node one after the other. If this is not requested,
the option is as follows:
► Call FB CANOPEN_NMTSERVICES ( → page 288 ):
- NODE = 0
- NMTSERVICE = 2
> The call is typically done by the application program at runtime.
> During this call, nodes with status 98 (see above) are started also. However, the PDOs for these
nodes remain deactivated.