IFM Electronic Ecomat Mobile Series System Manual page 92

ifm System Manual ecomatmobile SmartController (CR2500) V05
CAN in the ecomatmobile controller ifm CANopen library
(→ page 123) with GLOBAL_START=TRUE. If the slaves are to be reset individually, this input must
be set to FALSE.
Polling of the slave device type using SDO (polling for object 1000 ) and comparison with the
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configured slave ID
Indication of an error status for the slaves from which a wrong device type was received. The request
is repeated after 0.5 s if no device type was received AND the slave was not identified as optional in
the configuration AND the timeout has not elapsed.
Configuration of all correctly detected devices using SDO
Every SDO is monitored for a response and repeated if the slave does not respond within the
monitoring time.
Automatic configuration of slaves using SDOs while the bus is in operation
Prerequisite: The slave logged in the master via a bootup message.
Start of all correctly configured slaves after the end of the configuration of the corresponding
slave
To start the slaves the NMT command "Start remote node" is normally used. As for the "reset" this
command can be replaced by "Start All Remote Nodes". The service can be called via the function
CANx_Master_STATUS with GLOBAL_START=TRUE.
Cyclical transmission of the SYNC message
This value can only be set during the configuration.
Setting of nodeguarding with lifetime monitoring for every slave possible
The error status can be monitored for max. 8 slaves via the function CANx_MASTER_STATUS with
ERROR_CONTROL=TRUE.
We recommend: It is better to work with the heartbeat function for current devices since then the bus
load is lower.
Heartbeat from the master to the slaves and monitoring of the heartbeats of the slaves
The error status can be monitored for max. 8 slaves via the function CANx_MASTER_STATUS with
ERROR_CONTROL=TRUE.
Reception of emergency messages for every slave, the emergency messages received last are
stored separately for every slave
The error messages can be read via the function CANx_MASTER_STATUS with
EMERGENCY_OBJECT_SLAVES=TRUE. In addition this function provides the EMCY message
generated last on the output GET_EMERGENCY.
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