Siemens SIMATIC PN/CAN LINK, Руководство по эксплуатации

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Functions
5.1 CANopen
SIMATIC PN/CAN LINK
46
Operating Instructions, 03/2022, A5E39895388-AC
5.1.2.2 Control and status information
Controller information
The following controller information is cyclically transmitted by the S7 controller to the
PN/CAN LINK:
Table 5- 1 Structure of controller information in the PROFINET IO data (from S7 controller to PN/CAN
LINK, 1 byte)
Bit Meaning Value Note
7 … 3 Reserved Must be
"0"
--
2 Configuration
bit
1 The manager configures nodes in the boot-up state. A
successfully configured node can switch to the "Pre-Operational"
state.
0 The manager cannot configure nodes in the boot-up state (the
NMT status with the boot-up state has been received by the
node).
1 Reset bit 1 The CANopen side is reset when the bit changes to "1". All nodes
are reset by NMT command "Reset node" and the start-up
procedure is restarted. All OD entries are reset to initial values.
The PN/CAN LINK acknowledges receipt of the reset command by
setting the reset acknowledgment bit in the data for the S7
controller to "1".
The S7 controller can then set the reset bit to "0".
0 When the reset has been performed and the reset bit is "0", the
PN/CAN LINK sets the reset acknowledgment bit to "0". Only then
can a reset be performed again.
0 Control bit 0 CANopen network is not supposed to be "Operational". If the
current state of the CAN network is "Operational", a switchover
to "CAN network Pre-Operational" state occurs, that is all nodes
and the PN/CAN LINK are set to "Pre-Operational" with an NMT
command.
1 CANopen network should be "Operational". If the current state of
the CAN network is "Pre-Operational", a switchover to "CAN
network Operational" state occurs: All nodes and the PN/CAN
LINK are set to "Operational" with an NMT command.
Note:
If the configured NMT Master error behavior is "Restart the
triggering node" or when slaves are not configured as
"mandatory", it is possible that not all slaves are booted
completely with this state transition. The slaves are not started
with an NMT command "to all" in this case. An NMT command is
sent instead to each fully booted slave individually. As soon as
the other slaves are completely booted, they are also switched
to "Operational" with an NMT command.