B Implementation Details; Sup-Bit Definition; Anybus State Machine - Anybus CompactCom 30 Network Manual

Appendix B: Implementation Details
B Implementation Details
B.1

SUP-Bit Definition

The supervised bit (SUP) indicates that the network participation is supervised by another net-
work device. CANopen specific interpretation:
SUP-bit
0
1
B.2

Anybus State Machine

The table below describes how the Anybus State Machine relates to the CANopen network
status.
Anybus State
NW_INIT
WAIT_PROCESS
IDLE
PROCESS_ACTIVE
®
Anybus CompactCom ™ 30 Network Guide
Interpretation
[LSS active] - or - [No error control mechanism is enabled]
[Heartbeat consumer - and - Heartbeat producer is enabled & error free]
- or -
[Node guarding is enabled & error free] - and - [LSS not active]
CANopen NMT Implementation
State
NMT state The Anybus is performing a
Initialization network initialization.
The Anybus scans the appli-
cation for a possible CAN-
open Host Object. If there is
one, the data is read from the
object instances attributes.
If there is Read Process data
mapped, the Anybus starts
reading out the startup val-
ues from the ADIs to use
these as initial Read Process
Data.
The CANopen network proc-
ess data channel is not
active
PRE- If there is no valid Node ad-
OPERATIONAL dress (set in the Network
Configuration Object) the
Send Bootup Event
module enters the LSS init.
message on the bus
state. The Anybus will remain
the first-time the
in LSS init. state until a valid
state is entered.
Node ID is set from the
If a Guarding or
network.
Heart beat error oc-
If the Baud rate instance in
cur this state is
Network configuration object
entered.
is set to Auto, the module will
If LSS is enabled this
start to scan for the used
state is entered.
baud rate. It will stay in this
state until the node has de-
tected a baud rate or has
restarted.
STOPPED The network device is in idle
mode
When NMT state
Stopped is entered
the communication
stops altogether (ex-
cept node guarding
and heartbeat, if
active).
OPERATIONAL The network process data
channel is active and error
Services on SDO,
free
PDO SYNC EMCY-
objects can be exe-
cuted on the node.
30 (36)
Comment
Network specific application
objects may receive com-
mands from the Anybus.
The application shall regard
process data from network
as not valid
The application shall regard
process data from the net-
work as not valid
The application may act upon
received data or go to an idle
state
The process data is not valid.
Normal data handling can be
performed.
HMSI-168-78 EN 4.1