Control And Status Information - Siemens Simatic Operating Instructions Manual

Functions
4.1 CANopen
4.1.2.2

Control and status information

Controller information
The following controller information is cyclically transmitted by the S7 controller to the
PN/CAN LINK:
Table 4-1
Bit
7 ... 3
2
1
0
28
Structure of controller information in the PROFINET IO data
(from S7 controller to PN/CAN LINK, 1 byte)
Meaning Value Note
Reserved Must be --
"0"
Reserved Must be --
"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 proce-
dure 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 control-
ler 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.
Control bit 0 CANopen network is not supposed to be "Operational". If the cur-
rent 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 com-
mand.
1 CANopen network should be "Operational". If the current state of
the CAN network is "Pre-Operational", a switchover to "CAN net-
work 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 of the LINK
and all nodes" 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 boot-
ed, they are also switched to "Operational" with an NMT command.
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB