CANopen Management Function(EIO0000000316-2010.05)变频器使用说明书指南

EIO000000031605/2010EIO0000000316.01

SoMachine

CANopenManagementFunctionsCAACiA405LibraryGuide

05/2010

Theinformationprovidedinthisdocumentationcontainsgeneraldescriptionsand/ortechnicalcharacteristicsoftheperformanceoftheproductscontainedherein.Thisdocumentationisnotintendedasasubstituteforandisnottobeusedfordeterminingsuitabilityorreliabilityoftheseproductsforspecificuserapplications.Itisthedutyofanysuchuserorintegratortoperformtheappropriateandcompleteriskanalysis,evaluationandtestingoftheproductswithrespecttotherelevantspecificapplicationorusethereof.NeitherSchneiderElectricnoranyofitsaffiliatesorsubsidiariesshallberesponsibleorliableformisuseoftheinformationcontainedherein.Ifyouhaveanysuggestionsforimprovementsoramendmentsorhavefounderrorsinthispublication,pleasenotifyus.

Nopartofthisdocumentmaybereproducedinanyformorbyanymeans,electronicormechanical,includingphotocopying,withoutexpresswrittenpermissionofSchneiderElectric.

Allpertinentstate,regional,andlocalsafetyregulationsmustbeobservedwheninstallingandusingthisproduct.Forreasonsofsafetyandtohelpensurecompliancewithdocumentedsystemdata,onlythemanufacturershouldperformrepairstocomponents.

Whendevicesareusedforapplicationswithtechnicalsafetyrequirements,therelevantinstructionsmustbefollowed.

FailuretouseSchneiderElectricsoftwareorapprovedsoftwarewithourhardwareproductsmayresultininjury,harm,orimproperoperatingresults.

Failuretoobservethisinformationcanresultininjuryorequipmentdamage.©2010SchneiderElectric.Allrightsreserved.

2 EIO000000031605/2010

TableofContents

PartIChapter1

Chapter2

PartIIChapter33.1

Chapter44.1

4.2

4.3

Chapter55.1

Chapter66.1

SafetyInformation.............................. 5AbouttheBook................................. 7Introduction................................ 9IntroductiontoCANopenProtocol.................11Introduction................................................12NMTProtocol..............................................13PDOProtocol..............................................14SDOProtocol..............................................15EMCYProtocol.............................................16SYNCProtocol.............................................17ErrorControlProtocol........................................18IntroductiontoCiA405...........................21Introduction................................................21FunctionBlocksDescriptions..................23FunctionBlocksCommonI/OandBehavior.........25CommonI/OandBehavior....................................25CommonI/ODescription......................................26CANopenKernelDetectedErrorCodes..........................28FunctionBlockExecutionDiagrams.............................29NetworkManagementFunctionBlocks.............31CIA405.NMT:DevicesNMT-StateManagement....................32DevicesNMT-stateManagement...............................32CIA405.RECV_EMCY:EMCYMessagesScanning..................35EMCYMessagesScanning....................................35CIA405.RECV_EMCY_DEV:GetDeviceEMCYMessage.............36GetDeviceEMCYMessage...................................36OwnNodeIDFunctionBlocks....................39CIA405.GET_LOCAL_NODE_ID:GetControllerCANopenNodeID....39GetControllerCANopenNodeID...............................39QueryStateFunctionBlocks......................41CIA405.GET_CANOPEN_KERNEL_STATE:GetCANopenKernelState.42GetCANopenKernelState....................................42

EIO000000031605/2010 3

6.2

Chapter77.1

7.2

7.3

7.4

GlossaryIndex

CIA405.GET_STATE:GetCANopenDeviceState................. 43GetCANopenDeviceState................................... 43SDOAccessFunctionBlocks......................45CIA405.SDO_READ:ReadAnySizeCANopenObjects............. 46ReadAnySizeCANopenObjects.............................. 46CIA405.SDO_READ4:Readupto4-ByteCANopenObjects.......... 49Readupto4-ByteCANopenObjects............................ 49CIA405.SDO_WRITE:WriteAnySizeCANopenObjects............ 51WriteAnySizeCANopenObjects.............................. 51CIA405.SDO_WRITE4:Writeupto4-ByteCANopenObjects......... 56Writeupto4-ByteCANopenObjects............................ 56...........................................59...........................................63

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SafetyInformation §

ImportantInformation

NOTICE

Readtheseinstructionscarefully,andlookattheequipmenttobecomefamiliarwiththedevicebeforetryingtoinstall,operate,ormaintainit.Thefollowingspecialmessagesmayappearthroughoutthisdocumentationorontheequipmenttowarnofpotentialhazardsortocallattentiontoinformationthatclarifiesorsimplifiesaprocedure.

EIO000000031605/2010 5

PLEASENOTE

Electricalequipmentshouldbeinstalled,operated,serviced,andmaintainedonlybyqualifiedpersonnel.NoresponsibilityisassumedbySchneiderElectricforanyconsequencesarisingoutoftheuseofthismaterial.

Aqualifiedpersonisonewhohasskillsandknowledgerelatedtotheconstructionandoperationofelectricalequipmentandtheinstallation,andhasreceivedsafetytrainingtorecognizeandavoidthehazardsinvolved.

6 EIO000000031605/2010

AbouttheBook

AtaGlance

DocumentScope

ThisdocumentdescribestheSoMachineCAACiA405LibraryfunctionblocksusedtomanageandmonitortheCANopennetworkanddevicesfromthecontrollerapplication.

ValidityNote

ThisdocumenthasbeenupdatedwiththereleaseofSoMachineV2.0.

ProductRelatedInformation

WARNINGUNINTENDEDEQUIPMENTOPERATION

zOnlyusesoftwareapprovedbySchneiderElectricforusewiththisequipment.zUpdateyourapplicationprogrameverytimeyouchangethephysicalhardware

configuration.

Failuretofollowtheseinstructionscanresultindeath,seriousinjury,orequipmentdamage.

EIO000000031605/2010 7

WARNINGLOSSOFCONTROL

zThedesignerofanycontrolschememustconsiderthepotentialfailuremodesofcontrolpathsand,forcertaincriticalcontrolfunctions,provideameanstoachieveasafestateduringandafterapathfailure.Examplesofcriticalcontrolfunctionsareemergencystopandovertravelstop,poweroutageandrestart.

zSeparateorredundantcontrolpathsmustbeprovidedforcriticalcontrolfunctions.

zSystemcontrolpathsmayincludecommunicationlinks.Considerationmustbegiventotheimplicationsofunanticipatedtransmissiondelaysorfailuresofthelink.

zObserveallaccidentpreventionregulationsandlocalsafetyguidelines.1

zEachimplementationofthisequipmentmustbeindividuallyandthoroughlytestedforproperoperationbeforebeingplacedintoservice.

Failuretofollowtheseinstructionscanresultindeath,seriousinjury,orequipmentdamage.

1Foradditionalinformation,refertoNEMAICS1.1(latestedition),"SafetyGuidelinesfortheApplication,Installation,andMaintenanceofSolidStateControl"andtoNEMAICS7.1(latestedition),"SafetyStandardsforConstructionandGuideforSelection,InstallationandOperationofAdjustable-SpeedDriveSystems"ortheirequivalentgoverningyourparticularlocation.

UserComments

Wewelcomeyourcommentsaboutthisdocument.Youcanreachusbye-mailattechcomm@.

8 EIO000000031605/2010

IntroductionEIO000000031605/2010

Introduction I

Overview

ThispartgivesanoverviewofthevariousprotocolsusedinCANopen,andintroducestheCANopeninterfaceanddeviceprofileforIEC61131-3programmablecontrollers(CiA405)

NOTE:SomecontentofthisintroductionhasbeenextractedandadaptedfromtheCANinAutomation(CiA)website().CiA®andCANopen®areregisteredCommunityTrademarksofCANinAutomatione.V

AboutCiA:CANinAutomation(CiA)istheinternationalusersandmanufacturersgroupforControllerAreaNetwork(CAN).Thenon-profitassociationprovidestechnical,productandmarketinginformationaboutCAN,internationallystandardizedintheISO11898series.TheaimistopromotetheimageofCANandtoprovideapathforfuturedevelopmentsoftheCANtechnology.AnimportantpartoftheeffortoforganizationistodevelopandmaintaintheCANopenspecificationsaswellasthesupportofallotherinternationallystandardizedCAN-basedhigher-layerprotocols.

What'sinthisPart?

Thispartcontainsthefollowingchapters:

Chapter

1

2

ChapterName Page

IntroductiontoCANopenProtocol 11

IntroductiontoCiA405 21

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Introduction

10 EIO000000031605/2010

CANopenProtocolsEIO000000031605/2010

IntroductiontoCANopenProtocol 1

What'sinthisChapter?

Thischaptercontainsthefollowingtopics:

Topic Page

Introduction 12

NMTProtocol 13

PDOProtocol 14

SDOProtocol 15

EMCYProtocol 16

SYNCProtocol 17

ErrorControlProtocol 18

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CANopenProtocols

Introduction

CANopenProtocol

TheCANopenprotocolprovidesstandardizedcommunicationobjects(COB)forreal-timedata(processdataobjects(PDO)),configurationdata(servicedataobjects(SDO)),andnetworkmanagementdata(boot-upmessage,NMTmessage,anderrorcontrolmessage)aswellasotherfunctions(timestamp,SYNCmessage,emergencymessage).AllcommunicationobjectsareaccessiblethroughtheCANnetworkinthedeviceobjectdictionary.Theseobjectsareaddressablebya16-bitindex.Inthecaseofarrayandrecordobjects,thereisanadditional8-bitsub-index.Acommunicationobjectisidentifiedbyadedicatedanduniqueidentifier(COBID)overtheCANopennetwork.

DeviceObjectDictionary

TheobjectdictionaryentriesofaCANopendevicearedescribedinanelectronicdatasheet(EDS)file.CANopenmasterandslavesparameterscanbeadjustedintheSoMachineCANopenconfigurator.FormoreinformationaboutCANopenconfiguration,refertheonlinehelpCoDeSyspart,Editors/DeviceEditors/CANbusConfigurationEditorchapter.

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CANopenProtocols

NMTProtocol

NetworkManagement(NMT)Protocol

Thepurposeofthenetworkmanagement(NMT)protocolistocontrolthenetworkbehavioroftheCANopenNMTslavedevices.EitheronededicatedorallnetworkparticipantsareswitchedthroughtheNMTprotocolintheirNMTslavestatemachines.

ThefollowingfigurerepresentstheCANopenNMTslavestatemachine.

NMTServicesoverMaster-SlaveRelationship

AllCANopendevicesevaluatetheincomingNMTcommands(commandspecifier(CS)codeintheNMTmessage).OnlyCANopendevicewiththeNMTmastercapabilityisabletotransmitNMTmessages.InaCANopennetwork,onlyoneNMTmasterisactive.

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CANopenProtocols

PDOProtocol

ProcessDataObjects(PDO)Protocol

Processdataobjects(PDO)areshort(8-bytedatamax),high-priorCANmessageswhicharetransmittedinabroadcast.Therefore,PDOaresuitableforthetransmissionofreal-timedatasuchascontrolandstatusinformationofadriveoranI/Omodule,measuredvaluesprovidedbysensors,etc.

PDOaretransmittedinanunconfirmedmanner.Thismeans,evenafteranyspecificnetworkparticipantreceivestheinformation,thereisnoacknowledgementofthereceipt.

ThefollowingfigurerepresentsthePDOtransmissionfromproducer(TransmitPDO)toconsumers(ReceivePDO).

TriggeringEventsforPDOTransmission

ThetriggeringeventsforPDOtransmissionaredefinedbelow.

TriggeringEvent

Eventortimer-driven

Remotelyrequested

Cyclicsynchronous

Acyclicsynchronous

Definition

Adevice-internaleventtriggersthePDOtransmission(forexample,valuechange,temperaturevalueexceedsacertainlimit,event-timerelapsed,etc.)

PDOtransmissionrequestedbyremotetransmissionrequest(RTR).

ThetransmissionofthePDOiscoupledtothereceptionoftheSYNCmessage.

Adefineddevice-specificeventtriggersthePDO,whichtransmitswiththereceptionofthenextSYNCmessage.

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CANopenProtocols

SDOProtocol

ServiceDataObjects(SDO)Protocol

Servicedataobjects(SDO)allowtheaccesstoanyentryoftheCANopenobjectdictionary(OD).AnSDOestablishesapeer-to-peercommunicationchannelbetweentwodevices.Inaddition,theSDOprotocolenablestotransferanyamountofdatainasegmentedway.Therefore,theSDOprotocolismainlyusedinordertocommunicatewithconfigurationdata.

AnSDOconnectionbetweentwodevicesisestablishedbyconfiguringtherelatedSDOserverrespectivelywiththeclientchannel.SDOtransmissionisaconfirmedservice.

ThefollowingfigurerepresentstheSDOexchangewithrequestandresponse.

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CANopenProtocols

EMCYProtocol

Emergency(EMCY)Protocol

Theemergency(EMCY)objectenablesdevicestoindicatedevice-internaldetectederrors.Whentheyreceivethissignal,othernetworkparticipantscanevaluatethereceivedinformationandstartappropriate,manufacturer-specificcounteractions.

ThefollowingfigurerepresentsthedetectederrormessagethroughEMCYobjects.

EMCYMessages

TheEMCYmessagesreceivedfromotherCANopendevicesarestoredinanEMCYstoragetable.ForeachEMCYproducer,ifnoEMCYmessageisreceived,oraslongasthemostrecentEMCYmessagewasanoerrormessage,EMCYconsumersconsidertheEMCYproducertohavenointernaldetectederror.

16 EIO000000031605/2010

CANopenProtocols

SYNCProtocol

Synchronous(SYNC)Protocol

SynchronousnetworkbehaviorcanbeachievedwiththeSYNCprotocol.ThecyclicallytransmittedSYNCmessageindicatestheconsumerstostarttheirapplication-specificbehavior,whichiscoupledtothereceptionoftheSYNCmessage.

Oncedatahasbeenreceived,aSynchronousPDOconsidersthedatatobevaliduponreceiptoftheSYNCmessage.

ThefollowingfigurerepresentstheSYNCmessagestransmissionofSYNCprotocol.

ControlVariablesfortheSYNCbehavior

ThetimeperiodbetweentwoconsecutiveSYNCmessagesiscalledcommunicationcycleperiodandcanbeadjustedintheobjectdictionaryoftheSYNCproducer(objectindex1006hex).

ThesynchronoustransmitPDOaretransmittedwithinagiventimewindowafterthereceptionoftheSYNCmessage.ThistimewindowiscalledsynchronouswindowlengthandisconfigurableintheobjectdictionaryofalldeviceswhichhavetotransmitsynchronousPDO(objectindex1007hex).

Thefollowingfigurerepresentsthesynchronouswindowlengthandcommunicationcycleperiod.

EIO000000031605/2010 17

CANopenProtocols

ErrorControlProtocol

ErrorControlProtocol

Heartbeatorguardingservicesarenetworkmanagement(NMT)servicesusedtocheckthepresenceofnetworkparticipantsandtogettheirstate.

TwotypesoferrorcontrolprotocolsexistinCANopen:zHeartbeat

zNode/LifeGuarding

Becausetheheartbeatprotocolisthemoreflexibleoneandworkswithoutremotetransmissionrequest(RTR),itisyoushoulduseitifitissupportedbyyourCANopendevices.

Heartbeat

ACANopendevicetransmitsitsheartbeatcyclically.Thecycletimeiscalledheartbeatproducertime.Onreceptionoftheheartbeatmessage,theheartbeatconsumers(forexample,theCANopenmanager)evaluatewhethertherelateddeviceisstillworkingproperlyandremainsinthecorrectNMT-state.Theperiodoftimeinwhichatleastoneheartbeatmessagehastobereceivedfromtherelatedheartbeatproducerisconfiguredintheconsumers(heartbeatconsumertime).

Thefollowingfigurerepresentstheheartbeatwithtimeintervalsoftheerrorcontrolprotocol.

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CANopenProtocols

Node/LifeGuarding

TheCANopenmanagerrequeststheerrorcontrolmessagethrougharemotetransmissionrequest(RTR).ThedevicetobeguardedreplieswithaCANdataframewhichindicatesthecurrentNMT-state.

Master:ThemastermonitorstheslaveNMT-state(NodeGuarding)Slave:Theslavemonitorsthemastersignsoflife(LifeGuarding)

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CANopenProtocols

20 EIO000000031605/2010

CiA405

EIO000000031605/2010

IntroductiontoCiA405 2

Introduction

MethodsofAccessingtheCANopenNetwork

TheCANopeninterfaceanddeviceprofileforIEC61131-3programmablecontrollers(CiA405)describestwomethodsofaccessingtheCANopennetworkfromthecontroller:

znetworkvariableszfunctionblocks

NetworkVariables

ThenetworkvariablesareusuallymappedintoPDOtobereceivedortobetransmitted.Intheobjectdictionary,theIEC61131-3variablesareaccessibleinadefinedrangeofindexes.

FunctionBlocks

TheprofilealsodefinessomeCANopen-specificfunctionblocks,forexample,SDO,NMTandEmergencycommunicationservices.

EIO000000031605/2010 21

CiA405

TheCAACiA405Library

TheCAACiA405LibraryoffersasetoffunctionblockstomeettherequirementsoftheCiA405fortheaccesstotheCANopennetworkfromtheapplication(IEC61131-3program)ofthecontroller(CANopenmaster).ThelibraryisautomaticallydeclaredinthecontrollerlibrarymanagerwhenaCANopenmanagerisaddedtoacontrollerCANbusinterface.

Inthelibrary,thefunctionblocksareorganizedasfollows:zNetworkmanagementfunctionblocks:

zCIA405.NMT:tocontroltheCANopendevicesNMT-states

zCIA405.RECV_EMCY:toscantheEMCY-storagesoveralldevices

zCIA405.RECV_EMCY_DEV:togetthelaststoredEMCYmessageofaspecifieddevice

zOwnnodeidfunctionblock:

zCIA405.GET_LOCAL_NODE_ID:togetthecontrollerCANopenmanagernodeID

zQuerystatefunctionblocks:

zCIA405.GET_CANOPEN_KERNEL_STATE:togettheCANopenkernelcurrentstate

zCIA405.GET_STATE:togetaspecifieddevicecurrentstate

zSDOaccessfunctionblocks:

zCIA405.SDO_READ:toreadany-sizeobjectsofaspecifieddevice

zCIA405.SDO_READ4:toreadupto4-byteobjectsofaspecifieddevicezCIA405.SDO_WRITE:towriteany-sizeobjectsofaspecifieddevice

zCIA405.SDO_WRITE4:towriteupto4-byteobjectsofaspecifieddevice

NOTE:ForthecontrolofAltivardrivesandLexiummotiondrivesonCANopen,prefertheuseofdedicatedPLCopenfunctionblocks(ReferAltivar,IntegratedLexiumandLexiumLibraryGuides).

Namespace

TheCAACiA405librarynamespaceisCIA405.Thelibraryfunctionblocks,variablesandconstantshavetobeusedwiththelibrarynamespace.

Exampleoffunctionblockinstanceandvariabledeclaration:

VAR

ReadObject:CIA405.SDO_READ;SDOabort_info:CIA405.SDO_ERROR;END_VAR

22 EIO000000031605/2010

FunctionBlocksDescriptionsEIO000000031605/2010

FunctionBlocksDescriptions II

Overview

ThispartgivesanoverviewofthevariousfunctionblocksofCAACiA405LibraryusedtomanageandmonitorCANopennetworkanddevicesfromthecontrollerapplications.

What'sinthisPart?

Thispartcontainsthefollowingchapters:

Chapter

3

4

5

6

7

ChapterName Page

FunctionBlocksCommonI/OandBehavior 25

NetworkManagementFunctionBlocks 31

OwnNodeIDFunctionBlocks 39

QueryStateFunctionBlocks 41

SDOAccessFunctionBlocks 45

EIO000000031605/2010 23

FunctionBlocksDescriptions

24 EIO000000031605/2010

FunctionBlocksCommonI/OandBehaviorEIO000000031605/2010

FunctionBlocksCommonI/OandBehavior

3

3.1 CommonI/OandBehavior

What'sinthisSection?

Thissectioncontainsthefollowingtopics:

Topic Page

CommonI/ODescription 26

CANopenKernelDetectedErrorCodes 28

FunctionBlockExecutionDiagrams 29

EIO000000031605/2010 25

FunctionBlocksCommonI/OandBehavior

CommonI/ODescription

Introduction

ThistopicdescribesthegenericmanagementandexecutionsoftheCAACiA405LibraryfunctionblocksusingtheCIA405.RECV_EMCYfunctionblockasanexample.TheI/Ocommontoallfunctionblocksaredescribedhereafter.TheyareinheritedfromtheCiA405Baseinternalhiddenfunctionblock.

GraphicalRepresentation

TheparametersthatarecommontoallfunctionblocksintheCAACiA405libraryarehighlightedinthegraphicbelow.

CommonInputVariablesDescription

ThefollowingtabledescribestheinputparameterscommontoallfunctionblocksoftheCAACiA405Library.

Input

NETWORK

ENABLE

TIMEOUT

DataType

USINT

BOOL

UDINT

Description

CANchannelonwhichtherequestedservicemustbeexecuted.

1(defaultvalue)=firstCANbusinterface2=secondCANbusinterface(ifexists)

Enablestheexecutionofthefunctionblock.Onrisingedge:theexecutionstarts.

Onfallingedge:theexecutioniscanceledifitisnotcomplete.Otherwise,outputdataareresetto0.

Maximumexecutiontimeinms.Iftimeoutisreachedbeforearesponseisavailable,theexecutionisabortedontimeouterror.

0(facorysetting)=timeoutisdisabled.1...65535=timeoutvalueinms.

26 EIO000000031605/2010

FunctionBlocksCommonI/OandBehavior

CommonOutputVariablesDescription

ThefollowingtabledescribestheoutputvariablescommontoallfunctionblocksoftheCAACiA405Library.

Output

CONFIRM

ERROR

DataType

BOOL

CANOPEN_KERNEL_ERROR(USINT)

Description

TRUEwhentheexecutioniscompletedsuccessfully.

ContainstheexecutiondetectederrorcodereturnedbytheCANopenkernel.

00hex=noexecutionerrordetected.

01hex=detectederror,butcodeavailableatanotherfunctionblockoutput(notfromCANopenkernel).

02…FFhex=CANopenkerneldetectederrorcode.

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FunctionBlocksCommonI/OandBehavior

CANopenKernelDetectedErrorCodes

Description

ThelibraryoffersaCIA405.CANOPEN_KERNEL_ERROR_CODESglobalvariableslistwithpredefinederrorcodevariables.

DetectedErrorCode

Theerrorcodeswithassociatedglobalvariableanddescriptionaregivenbelow.

DetectedErrorCode

CANOPEN_KERNEL_NO_ERROR=00hex

CANOPEN_KERNEL_OTHER_ERROR=01hex

CANOPEN_KERNEL_DATA_OVERFLOW=02hex

CANOPEN_KERNEL_TIMEOUT=03hex

CANOPEN_KERNEL_CANBUS_OFF=10hex

CANOPEN_KERNEL_CAN_ERROR_PASSIVE=11hex

CANOPEN_INTERNAL_FB_ERROR=21hex

28

Description

TheCANopenkernelhasnotdetectedanerror.

IfERRORoutput=01hex,anerrorhasbeendetectedand,ifthereisanothererrorcodeoutputatthefunctionblock,thisoutputcontainsamorespecificinformation.Examples:

zCIA405.SDO_READandCIA405.SDO_WRITEfunctionblocks:theERRORINFOoutputcontainsthecontentoftheSDO-Abortmessage.

zCIA405.RECV_EMCYandCIA405.RECV_EMCY_DEVfunctionblocks:theERRORINFOoutputcontainsthecontentofthereceivedEMCYmessage.WhenanemergencymessageisavailableatERRORINFOoutput,theERRORoutput=1andCONFIRMoutput=0.

zCIA405.GET_CANOPEN_KERNEL_STATEfunctionblock:01hexvalueisneverdeliveredasthereisnoothererrorcodeoutput.

Overflowonsend-buffersorreceive-buffersofCANopenobjects.

Afunctionblockexecutiontimeoutoccurred.

TheCANopennodeisdisconnectedfromtheCANbus.

TheCANopennodeiserrorpassive:thenodeisabletocommunicate,butnotallowedtosendanactiveerrorflagincaseoferrordetection.

Manufacturerspecificerrorcode.

NOTE:21hextoFFhexaredevicemanufacturerdedicatedvalues.

EIO000000031605/2010

FunctionBlocksCommonI/OandBehavior

FunctionBlockExecutionDiagrams

BehavioroftheControlSignals

ThethreetypicalbehaviorsofthecontrolsignalsENABLE,CONFIRMandERRORaredescribedbelow:

zExecutionendedwithoutdetectederrorzExecutioncancelledbyapplication

zExecutionabortedorendedondetectederror

ExecutionEndedwithoutDetectedError

Assoonastheresponsetothecurrentrequestisavailabeandnoerrorhasbeendetected,theoutputCONFIRMissettoTRUEandstaysTRUEaslongasthefunctionblockiscalledwithinputENABLEisTRUE.WhenthefunctionblockiscalledwithENABLEresettoFALSE,CONFIRMisresettoFALSEandthefunctionblockisreadyforanewexecutionstart.

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FunctionBlocksCommonI/OandBehavior

ExecutionCancelledbyApplication

IfthefunctionblockiscalledwithENABLEresettoFALSEbeforethecurrentexecutionhasended,thefunctionblockexecutioniscancelled.Apossiblyavailableorlaterarrivingresponsetothecancelledrequestisignored.

ExecutionAbortedorEndedonDetectedError

AssoonasthecurrentexecutionhasbeenabortedbyanSDOabortmessagereceivedorhasendedonadetectederror,theoutputERRORissettoavaluedifferentfrom0(referCANopenKernelDetectedErrorsCodes(seepage28)forfurtherinformationaboutdetectederrorcodes).TheoutputERRORisresetto0andthefunctionblockisreadyforanewexecutionstartwhenthefunctionblockiscalledwithinputENABLEresettoFALSE.

30 EIO000000031605/2010

NetworkManagementFunctionBlocksEIO000000031605/2010

NetworkManagementFunctionBlocks

4

What'sinthisChapter?

Thischaptercontainsthefollowingsections:

Section

4.1

4.2

4.3

Topic Page

CIA405.NMT:DevicesNMT-StateManagement32CIA405.RECV_EMCY:EMCYMessagesScanning35

CIA405.RECV_EMCY_DEV:GetDeviceEMCYMessage 36

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NetworkManagementFunctionBlocks

4.1 CIA405.NMT:DevicesNMT-StateManagement

DevicesNMT-stateManagement

FunctionBlockDescription

TheCIA405.NMTfu