CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
137
Module
no.
Diagnos-
tic bit
(M5 … M
2)
Emergency
cause
Emergency message
03
Reserved
04
Configuration is incompatible or inva-
lid
05
Output power supply not in permitted
range
06 to 31
Reserved
NOTICE
The allocation of the diagnostic bits for M2 to M5 is as follows:
Bit 0
Bit 1
…
Bit 7
Bit 8
…
Bit31
M5.0
M5.1
…
M5.7
M4.0
…
M2.7
Node guarding
78633995
An NMT master (e.g. a PLC with integrated CANopen master) uses the NMT-Error-Control object to
detect a failure of an NMT slave with the
address N. The NMT slave must respond to the query of the NMT master within the node guarding
time. The node guarding time must be monitored by the NMT master.
The NMT master sends a CAN message with the identifier <700h + node ID> and RTRBit (remote
transmission request).
Query of NMT master:
Table 95: Query of NMT master
CAN-ID
RTR
DLC
DATA
700h + N 1
0
The slave (e.g. the SP-CANopen module) then sends a state byte 1 with the following content:
Response of the slave:
Table 96: Response of the slave
CAN-ID
DLC
DATA
700h + N
1
Byte1
Table 97: Remote transmission request
Bit
Meaning
7
Toggle bit changes its value between two consecutive queries
6…0
NMT status
4 = Stopped
5 = Operational
127 = Pre-operational
Bootup
On booting, the gateway sends a bootup message with the CAN-ID 700h+N, DLC = 1 and byte 1 = 0.
10.7
