Pdo Communication - Leuze electronic MSI 400 Series Manual

Tab. 10.14: Query of NMT master
CAN-ID RTR
700h + N 1
The slave (e.g. the MSI-FB-CANOPEN module) then sends a state byte 1 with the following content:
Response of the slave:
Tab. 10.15: Response of the slave
CAN-ID DLC
700h + N 1
Tab. 10.16: Remote transmission request
Bit Meaning
7 Toggle bit changes its value between two consecutive queries
6...0 NMT status
Bootup
On booting, the gateway sends a bootup message with the CAN-ID 700h+N, DLC = 1 and byte 1 = 0.
Heartbeat producer
When the gateway has been configured as a heartbeat producer (i.e. when SDO 1017 contains a value for
the producer heartbeat time, see table "Supported SDOs" [chapter 10.10]), then sends a cyclical message
with the CAN-ID 700h+N, DLC = 1 and Byte 1 = 05h. The toggle bit (bit 7) is always 0.
Heartbeat consumer
When the gateway has been configured as a heartbeat consumer (i.e. when SDO 1016.1 contains a value
for the consumer heartbeat time, see table "Supported SDOs" [chapter 10.10]), then at least one node
guarding message must be received within the configured consumer heartbeat time (typically from a NMT
master).
10.8

PDO communication

Process data objects (PDOs) are the real-time objects of the CANopen field bus. They are sent without a
protocol overhead, i.e. the receiver sends no confirmation.
The MSI-FB-CANOPEN module provides for transmit process data objects (TxPDOs), which contain the
operating
data to be sent to the network and four receive process
data objects (RxPDOs) for the operating data received from the network.
CANopen objects are addressed with the aid of 11-bit CAN identifiers. As a pre-set, the CAN identifier de-
rives each object from the object type and the configured CANopen device address. The CAN identifier of
the PDOs can be changed by using SDOs 1400 to 1403 for the RxPDOs and SDOs 1800 to 1803 for the
TxPDOs ("PDO linking").
NOTICE
i
Each process data object contains 8 bytes.
The content of the process data objects can be freely selected, but has been preconfigured as follows in
MSI.designer:
Leuze electronic
DLC DATA
0
DATA
Byte1
4 = Stopped
5 = Operational
127 = Pre-operational
MSI 400
CANopen gateway
128