Canopen Slave - Siemens Simatic Operating Instructions Manual

Error responses
The PN/CAN LINK saves the current state of the slaves configured in the HSP. When a
monitored CANopen slave fails or changes to an unexpected state, the PN/CAN LINK
signals corresponding diagnostic information to the S7 controller. If the slave is configured as
"mandatory in the network", the specified error response is executed.
The following reactions can be set for the failure of a mandatory node:
Reaction
Restart of trig-
gering node
Restart of links
and all nodes
Stop link and all
nodes
Note
• CANopen slaves that are not configured as "mandatory" by the user do not trigger the set
error response. When such a slave fails or signals an unexpected state, the slave is reset
with NMT and the boot-up procedure including configuration is restarted for this slave.
The gateway state and the state of the other CANopen slaves does not change.
• If the error response is "Restart link and all nodes" or "Stop link and all nodes", the
following applies: The triggered error response has an effect on the "mandatory" slaves
as well as those that were not configured as "mandatory" by the user.
4.1.3

CANopen Slave

When the PN/CAN LINK is operated in "CANopen Slave" mode, it does not take over the
function of the NMT Master or that of the Configuration Manager.
If the PN/CAN LINK is operated in "CANopen Slave" mode, most of the configuration
settings, such as those for heartbeat or for PDOs, are not made in the TIA Portal but are
written to the OD of the PN/CAN LINK during boot-up by the CANopen Manager responsible
for the CANopen network via SDOs.
Note
Retentive storage in the PN/CAN LINK of the configuration received from a CANopen
Manager in "CANopen Slave" mode is not supported.
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB
Description
The CANopen slave is reset with NMT and the boot-up procedure including con-
figuration is restarted for this slave. The state of the PN/CAN LINK and the state of
the other CANopen slaves does not change.
All CANopen slaves are reset via NMT and the boot-up procedure including con-
figuration is restarted for all slaves.
The state of the PN/CAN LINK changes to "CAN network Stopped" and all
CANopen slaves are set to "Stopped" via NMT. The state can be exited with a
reset (either by the reset bit in the cyclic data from the S7 controller or by configur-
ing the PN/CAN LINK again with the S7 controller).
Functions
4.1 CANopen
35