Instructions

Supported Objects 34

Doc.Id. HMSI-216-117

CM CANopen Module for SIMATIC S7-1200

Doc.Rev. 1.00

Request Guarding, 1F83h

Guarding can be initiated from the object dictionary in a similar way. Guarding is initiated with the values

stored in

“NMT Slave Assignment, 1F81h” on page 32, provided that at the same time no parameters

are entered for that node as a Heartbeat Consumer

Note: This functionality is only supported in master mode.

Example:

• Guarding should be started for node 5 (500 ms, Life Time Factor 3):

An SDO write access with the value 00000001h is executed to object 1F81h subindex 5 in the

local object dictionary. Guarding is activated by an SDO write access with the value 1 to object

1F83h subindex 5 in the local object dictionary.

Device Type Identification, 1F84h

Each node on the CANopen network is checked against its expected device type. The subindex indicates

which node is checked:

Vendor Identification, 1F85h

Each node on the CANopen network is checked against its expected vendor. The subindex indicates

which node is checked. The node in question is only checked if data is other than zero.

subindex Description Access

0 Largest subindex supported (128) RO

i (with i = 1...127) Request Guarding for the slave with Node-ID i RW

128 Request Start/Stop Guarding for all nodes. WO

Value Write access Read access

1 Start guarding Slave is guarded

0 Stop guarding Slave is not guarded

subindex Description

0 Largest subindex supported (127)

i (with i = 1...127) Compares expected device type (entered into this object) with actual device type (object

1000h, subindex 0) for the slave with Node-ID i. If the expected device type is 0, this only gives

information about the existence of a node, not which device type it is. If the value is not 0, it is

compared to the value read from the node, and boot up is continued if they match.

subindex Description

0 Largest subindex supported (127)

i (with i = 1...127) Compares expected vendor (entered into this object) with actual vendor (object 1018h,

subindex 1) for the slave with Node-ID i. Boot up of slave is continued only if they match. If not,

the slave is not put in Operational.