IFM Electronic CR0451 - Page 191

191
ifm System Manual ecomatmobile BasicDisplay (CR0451) V01
CAN in the PDM360 CAN POUs to CANopen
Parameters of the outputs
7869
Parameter Data type Description
MASTERSTATE BYTE Master state = internal state of the master:
00
10
= 00
16
= master is booting up
03
10
= 03
16
= configuration of the nodes is running
05
10
= 05
16
= normal operating status of the master
255
10
= FF
16
= when PLC runs as slave
PLCNODEID BYTE PLC node ID = node ID of the controller the program is running on
Value = 0...127
10
= 0...7F
16
PLCBAUDRATE DWORD Output of the baud rate of the PLC
PLCVERSION DWORD Controller version
CANSTATE BYTE CAN state = status of CANopen network
Controller operated as master:
NODEID = 0 (controller itself):
00
10
= 00
16
= OK
128
10
= 80
16
= bus off
NODE ID ≠ 0 (node):
00
10
= 00
16
= OK
01
10
= 01
16
= guarding or heartbeat error on node
128
10
= 80
16
= bus off
Controller operated as slave:
00
10
= 00
16
= OK
01
10
= 01
16
= guarding or heartbeat error
128
10
= 80
16
= bus off
NODESTATE BYTE Node state = internal node state of a slave seen from the master's
perspective. The input NODEID identifies the node.
-1
10
= FF
16
= reset to ResetNode
01
10
= 01
16
= waiting for BOOTUP
02
10
= 02
16
= after receiving BOOTUP message
03
10
= 03
16
= not yet configured: PREPARED
04
10
= 04
16
=
after the configuration with SDOs: PRE-OPERATIONAL
05
10
= 05
16
= after starting the node: OPERATIONAL
97
10
= 61
16
= optional node
98
10
= 62
16
= configured device type is different from the one in
100016
99
10
= 63
16
= node guarding
LASTNODESTATE BYTE Last node state
Node state according to CANopen (with these values, the state is
coded from the node also in the according messages).
00
10
= 00
16
= BOOTUP
04
10
= 04
16
= PREPARED
05
10
= 05
16
= OPERATIONAL
127
10
= 7F
16
= PRE-OPERATIONAL
RESULT BYTE feedback of the function block
(possible messages  following table)
Possibly values for RESULT:
Value
dec | hex
Description
000 00 function block is not active
001 01 FB execution completed without error – data is valid
008 08 FB is active – not yet processed
242 F2 Error: setting is not possible