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
255
Start the network
8029
Here you find information about how to start the CANopen network.
After downloading the project to the controller or a reset of the application the master starts up the
CAN network again. This always happens in the same order of actions:

All slaves are reset unless they are marked as "No initialization" in the configurator. They are reset
individually using the NMT command "Reset Node" (81
16
) with the node ID of the slave. If the flag
GLOBALSTART was set via CANOPEN_SETSTATE ( → page 292 ), the command is used once
with the node ID 0 to start up the network.

All slaves are configured. To do so, the object 1000
16
of the slave is polled.
 If the slave responds within the monitoring time of 0.5 s, the next configuration SDO is
transmitted.
 If a slave is marked as "optional" and does not respond to the polling for object 1000
16
within
the monitoring time, it is marked as not available and no further SDOs are transmitted to it.
 If a slave responds to the polling for object 1000
16
with a type other than the configured one (in
the lower 16 bits), it is configured but marked as a wrong type.

All SDOs are repeated as long as a response of the slave was seen within the monitoring time.
With the flag CFGTIMEOUT of the FB CANOPEN_SETSTATE you can set, after which time the
master breaks the initialisation. Via CANOPEN_GETSTATE (
→ page 294 ) you can read the
status of the initialisation.

If the master configured a heartbeat time unequal to 0, the heartbeat is generated immediately
after the start of the master controller.

After all slaves have received their configuration SDOs, guarding starts for slaves with configured
nodeguarding.

If the master was configured to [Automatic startup], all slaves are now started individually by the
master. To do so, the NMT command "Start Remote Node" (1
16
) is used. If the flag
GLOBALSTART was set via CANOPEN_SETSTATE, the command is used with the node ID 0
and so all slaves are started with "Start all Nodes".

All configured TX-PDOs are transmitted at least once (for the slaves RX-PDOs).

If [Automatic startup] is deactivated, the slaves must be started as follows:
 Starting separately:
Call FB CANOPEN_NMTSERVICES ( → page 288 ):
- NODE = node number
- NMTSERVICE = 2
 Starting globally:
Call FB CANOPEN_NMTSERVICES
- NODE = 0
- NMTSERVICE = 2