CANDPSX user manual rev 2 Page 20 of 42
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The CANopen master knows the NMT status of the connected slave nodes by means of the Node
guarding protocol and publishes it in the parameters 20C0h - 20D7h, that can also be mapped in
the Profibus dual port:
The NMT status of the connected nodes is also published in the parameters 20B8h – 20BDh and
can also be mapped in the Profibus dual port. These are 32 bit parameters and each byte
represents the status of one node:
Each byte represents the NMT status of a node. The
value of each byte is the same of parameters 20C0h -
20D7h
4.2.6 Handling node alarms
The CANDPSX module handles the emergency messages sent by nodes and saves each node’s
error code – defined according to the CANopen standard – to the parameters 20E0h - 20F7h, that
can also be mapped in the Profibus dual port (see § 28).
Like what mentioned in § 16 concerning validation of a configuration, the CANopen master
publishes the past alarms mask and the active alarms in the parameters 2094h and 2095h
respectively. It is also possible to map these parameters in the Profibus dual port.
The past alarms mask can be reset by setting up a bit mask (parameter 2096h) and by sending a
reset alarms command (see § 15). The reset alarms mask can also be mapped in the Profibus dual
port.
4.2.7 Programming PDOs
Up to 24 CAN messages, which can be programmed in transmission or reception, are available for
real-time data exchange as defined in the standard (asynchronous PDOs of type 254). Data
transmission is evaluated at each data exchange request from Profibus. The data of any CAN
message received are immediately moved to the Profibus dual port and are available for any data
exchange request.
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