Manual

CANopen Module Specification 24
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
1200 PLC. If the module is configured as a slave, it will react according to the settings in object 1029h.
If it is in OPERATIONAL state, it will thus go to PRE-OPERATIONAL state and wait for the user to
take action. If it is in manager mode it will take action according to the settings in the manager objects.
The CM CANopen Module for SIMATIC S7-1200 can act as both heartbeat consumer and as heartbeat
producer.
6.3.2 Node Guarding
When using this mechanism NMT Master transmits guarding requests. If an NMT Slave has not re-
sponded within a defined time span (node lifetime) or if the communication status of the slave has
changed, the master takes appropriate action according to its configuration. In case of the CM CAN
-
open Module for SIMATIC S7-1200 being the master, the PLC will be informed about the disappear-
ance of the slave on the CANopen network. Any data to or from the disappeared slave will be frozen.
If Life guarding (the slave guards the master) is supported, the slave uses the guard time and lifetime
factor from its Object Dictionary to determine the node lifetime. If the slave does not receive a guarding
request within its lifetime, a node guard event is registered. The ERROR LED on the front of the CM
CANopen Module for SIMATIC S7-1200 will indicate the event and a diagnostic error will be logged
on the channel diagnostics.
If the guard time or the lifetime factor are 0 (default), the slave does not guard the master. The guarding
can be initiated at boot-up or later.
Note 1: If heartbeat is enabled, node guarding is disabled.
Note 2: When node guarding is used for master supervision, a GuardTime and a RetryFactor is set for
each node in its slave assignment object, see
“NMT Slave Assignment, 1F81h” on page 32.
6.3.3 Emergency Object (EMCY)
The Emergency Object is used for error reporting on the CANopen network when a fault has occurred
and for reporting when all faults in a module have been cleared. The error codes are saved in a list in the
Communication Profile Object 1003h, see
page 26 and a message is produced on the CANopen net-
work. A list of emergency error codes, that can be produced by the module, is available in “CANopen
Emergency Codes” on page 57