IFM Electronic CR0403 - Page 103

103
ifm Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01
ifm function elements ifm function elements for the device CR0403
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CANOPEN_NMTSERVICES
7843
= Network management services
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
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Description
7844
Depending on its NMT command entries, CANOPEN_NMTSERVICES either triggers an NMT
command or the initialisation of a node.
NMT = Network-ManagemenT
The function block updates the internal node status. If a state transition to CANopen (→ system
manual "Know-How ecomatmobile" > NMT state) should not be permitted, the command is not
executed.
A CANopen device can automatically change its CANopen state by means of the FB:
preoperational  operational
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Parameters of the inputs
7847
Parameter
Data type
Description
EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODEID BYTE node ID = ID of the node (0...127
10
)
NODEID = 0:
command is valid for all nodes connected to the network
NODEID = node ID of the device:
command is valid for the device itself
NMTSERVICE BYTE network command
0 = init node (except master)
1 = enter PRE-OPERATIONAL
2 = start node
3 = reset node
4 = reset communication
5 = stop node
Timeout
(optional use of the parameter)
TIME := T#0ms waiting time of the FB for the initialisation
when the time has elapsed, the FB stops waiting.
0 = use value from the configuration