Specifications

sigmadue - IEC 61131-3 Function Block Library
116
initialization phase of the communication. The FB provide also a global indication
of both communication error state and emergency error condition using the
COM-
MERR
and the EMCYSTS signals, and a punctual indication using the DEVCOM-
MSTS
array and the DEVEMCYSTS matrix. Finally the FB is able to set the local
digital output of the CPU and to read the state of the digital input.
CommErr Flag
This flag is TRUE if at least one of the devices connected to the CAN line has a
communication problem. Please check the
DevCommSts array to identify which is
this node.
DevCommSts Array
Each element of this array contains the communication state of the relative node.
The table here reported gives the numerical value of these states.
For more details about these values please refer to the “
CiA document DS301 –
CANopen Application Layer and Communication Profile
” and to the Systec
Manual “
CANopen Extension for IEC61131-3 ”. Please use the “ Diagnostic
Application Note
” from Ascon for a complete description.
EmcySts Flag
This flag is TRUE if at least one of the devices connected to the CAN line sends
an emergency object. Please check the
DevEmcySts matrix to identify which is
this node.
DevEmcySts Matrix
This matrix has a row for every device connected to the network, where is
reported the content of the last error message. For the meaning of these
messages please refer to the specific user manual of the device.
Alarm_DO, Wakeup_DO and DI
These signals are related with the physical IO of the CPU, where
ALARM_DO ,
and
WAKEUP_DO are the outputs, and DI is the input state.
Element Value Communication State
16#0000 INIT state
16#0001 RESET_COMM state
16#0002 RESET_APP state
16#0003 PREOPERATIONAL state
16#0004 STOPPED state
16#0005 OPERATIONAL state
16#0006 UNKNOWN state
16#0007 NOTAVAIL state