Manual

Supported Objects 40
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
Status CM CANopen, 5000h, subindex 04h
The table below gives definitions of the CM CANopen configuration bits that can be read from subind-
ex 04h of the Status CM CANopen object. Bits 0 - 3 correspond to bits 0 to 3 of object 1F80h.
5 An overrun of the low priority transmit queue occurred. Bit is reset after a read access.
The CM CANopen transmits heartbeat, emergency messages, node guarding requests, SSDOs and CSDOs,
asynchronous TPDOs, and NMT commands via the low priority transmit queue.
6 A receive queue overrun occurred. Bit is reset after a read access.
7 An overrun of the high priority transmit queue occurred. Bit is reset after a read access.
The CM CANopen transmits synchronous TPDOs and the SYNC message via the high priority transmit
queue.
Bit No Name Mode Description
0 NMT master Both 0:
1:
The CANopen device is not NMT master. Ignore the entries of object 1F81.
The CANopen device is the master.
1
a
a. Bits 1 - 3 describe the startup behavior of the CANopen manager during the NMT startup procedure.
Start all
nodes
Manager 0:
1:
The CANopen slave devices are started with the NMT service Start Remote
Node for each Node-ID.
The CANopen network is started with the NTM service Start Remote Node with
Node-ID = 0.
2
a
NMT master
start
Both 0:
1:
The CANopen manager automatically enters NMT state Operational at startup.
The CANopen manager does not automatically enter NMT state Operational.
3
a
Start node Manager 0:
1:
The CANopen manager (the NMT master) will start the NMT slaves.
The NMT slaves will be started by the application
4 Remote error
handling
Both This bit indicates who reacts to an error control event of a mandatory device. It is
always 0 if the CM CANopen module is in slave mode.
0:
1:
The application handles remote guarding or heartbeat error.
The CANopen manager handles remote errors, how is configured i object
1F80h, see
“NMT Start-up, 1F80h” on page 31.
5 (reserved) Always 0.
6
b
b. The synchronization mechanism is described by the values of bits 6 - 7.
Synchroniza-
tion bit
Both 0:
1:
The value of object 1006h, Communication Cycle Period, is 0.
The value of object 1006h is unequal to 0.
7
b
SYNC con-
sumer/pro-
ducer bit
Both 0:
1:
The CANopen manager is configured as SYNC consumer.
The CANopen manager is configured as SYNC producer.
8-9 (reserved) Time object, not supported. Always 0.
10
c
c. Bits 10-14 describe life guarding status. Only one of these bits can be set at a time.
Node guard-
ing stopped
Slave 0:
1:
Life guarding is configured.
Life guarding is not configured and not active.
11
c
Heartbeat
configured
Slave 0:
1:
The CANopen device (the module in slave mode) does not transmit heartbeat
messages.
The CANopen device transmits heartbeat messages. Life guarding is not active.
12
c
Node guard-
ing config-
ured
Slave 0:
1:
Life guarding is not configured.
Life guarding is configured, no guarding request has been received from the
NMT master.
13
c
Node guard-
ing active
Slave 0:
1:
Life guarding is not configured.
Life guarding is configured and active.
14
c
Life guarding
status
Slave 0:
1:
Guarding request received within node lifetime.
Life guarding error.
15 (reserved) Always 0.
Bit No Description