IFM Electronic Ecomat Mobile Series System Manual page 95

CAN in the ecomatmobile controller
Boot up of the CANopen slaves
You can read the states of a slave via the array NODE_STATE_SLAVE of the function
CANx_MASTER_STATUS (→ page 123). During boot up of the CAN network the slave passes the
states -1, 1 and 2 automatically. The states have to be interpreted as follows:
State Description
-1 The slave is reset by the NMT message "Reset Node" and automatically goes to state 1.
1 After max. 2 s or immediately on reception of its boot up message the slave goes to state
2.
2 After a delay of 0.5 s the slave automatically goes to state 3. This period corresponds to
the experience that many CANopen devices are not immediately ready to receive their
configuration SDOs after transmission of their boot up message.
3 The slave is configured in state 3. The slave remains in state 3 as long as it has received
all SDOs generated by the configurator. It is not important whether during the slave
configuration the response to SDO transfers is abort (error) or whether the response to all
SDO transfers is no error. Only the response as such received by the slave is important –
not its contents.
If in the configurator the option "Reset node" has been activated, a new reset of the node
is carried out after transmitting the object 1011
value "load". The slave is then polled again with the upload of the object 1000
Slaves with a problem during the configuration phase remain in state 3 or directly go to an
error state (state > 5) after the configuration phase.
After passing the configuration phase, the slave can go to the following states:
State Description
4 A node always goes to state 4 except for the following cases: it is an "optional" slave and
it was detected as non available on the bus (polling for object 1000
present but reacted to the polling for object 1000
than expected by the configurator.
5 State 5 is the normal operating state of the slave.
If the master was configured to "Automatic startup", the slave starts in state 4 (i.e. a "start
node" NMT message is generated) and the slave goes automatically to state 5.
If the flag GLOBAL_START of the function CANx_MASTER_STATUS was set by the
application, the master waits until all slaves are in state 4. All slaves are then started with
the NMT command "Start All Nodes".
97 A node goes to state 97 if it is optional (optional device in the CAN configuration) and has
not reacted to the SDO polling for object 1000
If the slave is connected to the network and detected at a later point in time, it is
automatically started. To do so, you must have selected the option "Automatic startup" in
the CAN parameters of the master.
98 A node goes to state 98 if the device type (object 1000
configured type.
If the slave is in state 4 or higher, nodeguard messages are transmitted to the slave if nodeguarding
was configured.
ifm System Manual ecomatmobile SmartController (CR2500) V05
sub-index 1 which then contains the
16
with a type in the lower 16 bits other
16
.
16
) does not correspond to the
16
ifm CANopen library
.
16
) or the slave is
16
95