HMS CM CANopen - Page 51

Interface Functions 47
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
4 Uint8 CANopen Node sta-
tus
Node NMT status
00h: NMT State Unknown
04h: NMT State Stopped
05h: NMT State Operational
06h: Reset Node
07h: Reset Communication
7Fh: NMT Pre-operational
5 Array of Uint8 (up
to 127 elements)
Network status (only
available if module is
manager)
Mainly reflects object 1F82h, subindices. 01h to 7F. Each entry
reflects a node ID.
Bits 0-3 Node State
0h: NMT State Unknown
1h: CANopen Device missing
4h: NMT State Stopped
5h: NMT State Operational
Fh: NMT Pre-operational
Bit 4: Configuration Error bit
0: No error
1: Error
Bit 5: Node mandatory bit
0: Node optional
1: Node mandatory
Bits 6-7: (reserved)
Offset Data type Description Definition