Canopen Live List Functionality - HMS Anybus X-gateway CANopen User Manual

CANopen Module Specification
6.6

CANopen Live List Functionality

Anybus X-gateway CANopen provides a list of the active status of the slave nodes attached to the
secondary network CANopen master. The list is assembled by the master and forwarded to the
primary network during each cycle.
This feature is disabled by default and can be enabled through the CANopen network
configuration software, see
Live List Usage
The Live List consists of 16 bytes and holds bit coded status information for CANopen slave nodes
1–127.
Bit set (1)
Bit cleared (0)
Offset
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
a. Bit 0 in Offset 0 indicates 1 if all monitored nodes are in OPERATIONAL state, else it will be 0.
Only operational/non-operational state will be presented in the Live List. Error passive state will
not be detected, but BUSOFF will also result in heartbeat/node guarding errors and will be
reflected in the live list.
The control/status word allocates 2 bytes in the input/output area by default and is always
enabled. If the Live List is enabled, an additional 16 bytes will be allocated in the IO area, starting
at the next available address after the status word.
Anybus ® X-gateway ™ CANopen ® PROFINET
Enabling Live List in Anybus Configuration Manager, p.
Device active — State OPERATIONAL
Device not active — States INITIALIZATION, PRE-OPERATIONAL or STOPPED.
Bit 7 Bit 6 Bit 5
7 6 5
15 14 13
23 22 21
31 30 29
39 38 37
47 46 45
55 54 53
63 62 61
71 70 69
79 78 77
87 86 85
95 94 93
103 102 101
111 110 109
119 118 117
127 126 125
® IRT (2.32) User Manual
Bit 4 Bit 3 Bit 2
Device number
4 3 2
12 11 10
20 19 18
28 27 26
36 35 34
44 43 42
52 51 50
60 59 58
68 67 66
76 75 74
84 83 82
92 91 90
100 99 98
108 107 106
116 115 114
124 123 122
42 (60)
43.
Bit 1 Bit 0
a
ALL
1
9 8
17 16
25 24
33 32
41 40
49 48
57 56
65 64
73 72
81 80
89 88
97 96
105 104
113 112
121 120
SCM-1202-029 1.2 en-US