Monitoring Functions - Siemens Simatic Operating Instructions Manual

Bit
1 ... 0
1) The error counters customary in CAN and their associated thresholds are internal functions that are
not visible to the user.
Note
For values consisting of multiple bits, the first bit is the MSB and the last bit the LSB.
Example: Bit 1 ... 0 = "2" means that bit 0 = "0" and bit 1 = "1".
4.1.3.4

Monitoring functions

The device supports heartbeat and node guarding as sender (producer) as well as receiver
(consumer). The settings for these two functions are written to the OD of the PN/CAN LINK
through SDO access by the CANopen Manager in charge of the CANopen network.
When a monitored CANopen device fails, the PN/CAN LINK signals corresponding
diagnostic information to the S7 controller. In addition, an EMCY message is transmitted on
the CANopen side and the error response specified in the OD entry "ErrorBehaviour" at
address 1029h, subindex 01h, is executed.
Error responses
The following error responses are supported:
Subindex
value
00h
01h
02h
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB
Meaning Possible values
State of the 0 Off
CAN con-
troller
1 Bus Off
2 Error Passive
3 Error Active
Description
Change to the "Pre-Operational" state only when the current state is "Operational"
Current state is retained, that is no response
Change to "Stopped" state
Note
When specified accordingly by the S7
controller.
Error counter has reached the specified
1)
second threshold.
As a result, the PN/CAN LINK can no
longer transmit/receive any packages.
Note: "Bus-Off" is also signaled when
the PN/CAN LINK needs more than two
seconds to synchronize with the CAN
bus.
Error counter has exceeded the speci-
fied first threshold. The PN/CAN LINK
still transmits/receives packages.
Error counter is below a specified
threshold. The PN/CAN LINK trans-
mits/receives packages. This is the
normal state. Everything is okay.
Functions
4.1 CANopen
41