Manual
Table Of Contents
- Important User Information
- P. About This Document
- 1. Product Overview
- 2. CANopen Fieldbus Functionality
- 3. Transparent CAN Mode
- 4. Installation
- 5. Configuration
- 6. CANopen Module Specification
- 7. Supported Objects
- 8. Interface Functions
- A. Technical Specification
- B. Status LED Timing Diagrams
- C. CANopen Emergency Codes
- D. Error Codes (RET)
Interface Functions 51
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
cept for enable or disable all) or CAN-IDs can be transmitted in several messages after one an-
other.
Each CAN-ID starts with a set bit, telling whether to set or reset the CAN-ID, followed by the
actual CAN-ID. If the set bit is 1, the CAN-ID will be enabled in the acceptance filter, if 0 it will
be disabled.
CAN-ID 0000h with LEN set to 0000h will disable all CAN-IDs. If LEN is set to 1 only CAN-
ID 0000h is disabled.
CAN-ID FFFFh with LEN set to 0001h will enable all CAN-IDs and the module will forward
all messages to the PLC.
•FCN = 2
Configures the CAN_RCV buffer limit warning value. It gives the opportunity to define what
number of frames will be stored in the receive buffer, before status code bit 4 (BUFFER LIMIT
REACHED) will be set, see
“Transparent CAN Status Field” on page 53. Initially the buffer limit
is set to 256, which means that the status bit will be set when the last place in the buffer is used.
The user can change the buffer limit to any value between 1 and 256.
•FCN = 3
Empties the receive buffer. CAN_RCV still holds the old frame that hasn’t been acknowledged
(NEW is cleared by holding ACK high for on scan cycle)
•FCN = 5
Resets the CAN controller. Clears Bus Off condition, if present.
1
Bit 15 Bit 14 .... Bit 0
Set bit CAN-ID
1. If a Bus Off condition is generated, the CAN Controller has to be reset, before communication can be resumed