IFM Electronic Ecomat Mobile Series System Manual page 94

CAN in the ecomatmobile controller
Network states
Here you read how to interpret the states of the CANopen network and how to react.
For the start-up (→ page 93) of the CANopen network and during operation the individual functions of
the library pass different states.
NOTE
In the monitor mode (online mode) of CoDeSys the states of the CAN network can be seen in the
global variable list "CANOpen implicit variables". This requires exact knowledge of CANopen and the
structure of the CoDeSys CANopen libraries.
To facilitate access the function CANx_MASTER_STATUS (→ page 123) from the library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB is available.
Boot up of the CANopen master
During boot-up of the CAN network the master passes different states which can be read via the
output NODE_STATE of the function CANx_MASTER_STATUS (→ page 123).
State Description
0, 1, 2 These states are automatically passed by the master and in the first cycles after a PLC
start.
3 State 3 of the master is maintained for some time. In state 3 the master configures its
slaves. To do so, all SDOs generated by the configurator are transmitted to the slaves
one after the other.
5 After transmission of all SDOs to the slaves the master goes to state 5 and remains in this
state. State 5 is the normal operating state for the master.
Whenever a slave does not respond to an SDO request (upload or download), the request is repeated.
The master leaves state 3, as described above, but not before all SDOs have been transmitted
successfully. So it can be detected whether a slave is missing or whether the master has not correctly
received all SDOs. It is of no importance for the master whether a slave responds with an
acknowledgement or an abort. It is only important for the master whether he received a response at
all.
An exception is a slave marked as "optional". Optional slaves are asked for their 1000
once. If they do not respond within 0.5 s, the slave is first ignored by the master and the master goes
to state 5 without further reaction of this slave.
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ifm System Manual ecomatmobile SmartController (CR2500) V05
ifm CANopen library
object only
h