Status Word - HMS Anybus X-gateway CANopen Series User Manual

6.2.2 Status Word

Byte 0 in the status word shows the last valid command and command extension written to the control
word, to indicate that the command has been performed. It also gives the lowest NodeID with error. If
NodeID is 0, all nodes are fine. If NodeID is for example 5, it means that there is an error with node 5.
Only NodeIDs, with errors, from nodes monitored by the heartbeat mechanism or by node guarding
will be reported.
Status Word
Byte 0
Cmd Rsp, 3 bits CmdExt, 4 bits Error Node Data
a
Toggle bit
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the module to mirror the toggle bit of the
control word.
Supported commands
The table below shows available command responses and their representation in byte 0 of the status
word.
Toggle
CmdRsp CmdExtRsp
a
(3 bits) (4 bits)
bit
- 0h -
0h
1h
2h
3h
4h
5h - Fh
1h -
0h
1h
2h
3h
4h
5h
6h
7h - Eh
Fh
2h Bit:
3h - 6h (reserved)
7h -
a. The most significant bit in byte 0 is a toggle bit, that is toggled by the module to mirror the toggle bit of the control
word.
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
Byte 1
Name
(Set NMT State)
PRE-OPERATIONAL
OPERATIONAL
RESET NODE
RESET COMMUNICATION
STOP
-
(Get Node state)
PRE-OPERATIONAL
OPERATIONAL
RESET NODE
RESET COMMUNICATION
STOP
UNKNOWN
MISSING
-
ERROR
(Get COPM general status) This response requests the CANopen status of the mod-
0 CAN_BUS_OFF
1 CAN_ERR_PASV
2 ERR_NG_HB
3 ERR_SYNC
(No operation)
CANopen Module Specification 25
Effective I/O Data
Byte 2 - 510
Master
Response to Set NMT
State command. Reflects
the command.
(reserved)
This response reflects the
state. set in object 1F82h,
see 36, of a CANopen
node or network (depend-
ing on the value of
NodeId).
ule
Bus off
Error passive
Node guarding or Heartbeat error
Sync error
Reflects the command
Slave
Response to Set NMT State
command. Reflects the
command.
This response reflects the
state. set in object 1F82h,
see 36, of the modules
CANopen interface.
Doc.Id. SCM-1200-080