HMS Anybus X-gateway CANopen User Manual page 51

CANopen Object Implementation
Slave Assignment, 1F81h
This object defines which slaves the Master should monitor, control and/or configure. One entry
is made for each assigned slave, with the subindex corresponding to the slave's NodeID.
Bit
Value
0 0
1
-
1
2 0
1
3 0
1
-
4
-
5
-
6
7 0
1
-
8 - 15
-
16 - 31
Request NMT, 1F82h
Each node on the CANopen network can be controlled individually from the fieldbus application
by sending this object. The subindex indicates what nodes the request affects:
Subindex
0
i (with i = 1...127)
128
The entire network can be started with one command (subindex 128)
Examples:
• Node 5 should be transferred to the OPERATIONAL state:
An SDO write access with the value 5 is executed to object 1F82h subindex 5 in the local
object dictionary. When an NMT command is sent, data is cleared.
• All nodes in the network should be transferred to the PRE-OPERATIONAL state:
An SDO write access with the value 127 is executed to object 1F82h subindex 128 in the
local object dictionary.
Anybus ® X-gateway ™ CANopen ® PROFINET
Description
Node with this ID is not a slave.
Node with this ID is a slave. After configuration the node will be set to Operational.
Reserved
On an Error Control Event or on detection of a new slave, inform the application, but do NOT
configure and start the slave.
On an Error Control Event or on detection of a new slave, inform the application and start the
process Start Boot Slave.
Optional slave. The network may be started even if this node could not be contacted.
Mandatory slave. The network must not be started if this node could not be contacted during the
boot slave process.
Not implemented
Not implemented
Not implemented
CANopen device may be used without reset to default.
CANopen device shall be reset to factory defaults by issuing a restore to defaults (object 1011h).
8 bit value for the RetryFactor.
16 bit value for the GuardTime.
If a slave does not answer, the master will retry the request RetryFactor -1 times with an interval
of GuardTime. Guarding will be performed only if non-zero values are entered for Retry Factor and
GuardTime.
Description
Largest subindex supported (128)
Request NMT Service for the slave with NodeID i.
Request NMT Service for all nodes
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