Schneider Electric DS301 manual Acknowledgement of the NMT slave

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IL•1F CANopen DS301

3 Basics

Structure of the NMT message After a request from the NMT master, the NMT slave responds with one data byte.

			COB-ID			Node-ID=04h
Master			704h			Slave
Master			704h	05h		Slave
guard			704h	05h
time
			704h
			704h	85h
			704h
			704h	05h
	Bit 7 6	...	0		Bit 7 6	0
	Bit 7 6		0		Bit 7 6	0
05h	= 0 0 0 0 0 1 0 1			85h	= 1 0 0 0 0 1 0 1

Figure 3.31 Acknowledgement of the NMT slave

Bits 0 to 6 identify the NMT state of the slave:

•4 (04h): "Stopped"

•5 (05h): "Operational"

•127 (7Fh): "Pre-Operational"

After each "guard time" interval, bit 7 switches toggles between "0" and "1", so the NMT master can detect and ignore a second response within the "guard time" interval. The first request when connection monitoring is started begins with bit 7 = 0.

Connection monitoring must not be active during the initialization phase of a device. The status of bit 7 is reset as soon as the device runs though the NMT state "Reset communication".

Connection monitoring remains active in the NMT state "Stopped".

Configuration Node/Life Guarding is configured via:

•Guard time (100Ch)

•Life time factor (100Dh)

0198441113586, V2.01, 11.2008

Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 About this manual IntroductionCAN-Bus Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen technology BasicsCANopen description language Communication layersIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesObject dictionary Communication profileIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Master slave relationships Communication relationshipsClient-server relationship Overview Service data communicationSDO data exchange 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesInitialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data Receive dataReading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingMessage objects Error diagnostics via fieldbusMessages on the device status Error register CANopen error messagesError code table Bit Message MeaningError code Meaning SDO error message AbortObject directory Specifications for the objectsObject code Meaning Coding Data type Value range Data lengthObjects, overview Index Subindex Designation Obj. code Data type AccessObjects of the product Error registerDevice type 1008h Bit coding, subindex 00hManufacturer device name 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit 30 RTR bit Bit assignment subindex 01hBit coding, subindex 02h Bit Acces Value Meaning1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryRotation TemperatureTorque Moment of inertiaTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface