Материал: m083700e

CANopen • 151

Network Communication

5.3.4.2.7 Object 0x1009, Manufacturer Hardware Version

The object indicates the current hardware version of the bus coupler.

5.3.4.2.8 Object 0x100A, Manufacturer Software Version

The object indicates the current software version of the bus coupler.

5.3.4.2.9 Object 0x100C, Guard Time

The object indicates the Guarding Time in milli-seconds. An NMT master cyclically interrogates the NMT slave for its status. The time between two interrogations is termed Guard Time.

5.3.4.2.10Object 0x100D, Life Time Factor

The life Time Factor is part of the Node Guarding Protocol. The NMT slave checks if it was interrogated within the Node Life Time (Guardtime multiplied with the life time factor). If not, the slave works on the basis that the NMT master is no longer in its normal operation. It then triggers a Life Guarding Event.

If the node life time is zero, no monitoring will take place.

5.3.4.2.11Object 0x1010, Store Parameters

This object allows to permanently store the settings made by the user. For this purpose, the signature „save" (lower case letters ASCII - MSB – 0x65 76 61 73 - LSB) must be written into the index 0x1010 sub index 1. The storing process runs in the background and takes approx. 2-3 seconds. When the storing process is finished, the SDO reply telegram is sent. Communication remains possible during storage by means of SDOs. An error message as a result of a new storage attempt only occurs, when the previous one was not yet finished. It is also not possible to trigger the storage function for as long as „Restore" is active.

WAGO-I/O-SYSTEM 750

CANopen

152 • CANopen

Network Communication

As soon as a setting is stored, the Emergency “Changed HW configuration” is not sent any longer if the bus coupler is started up again without changing the module configuration.

Attention

If following the storage of a configuration only the module ID is changed via the DIP switch, the saved configuration is continued to be used. In other words, all module ID specific entries in the object directory (objects that are module ID dependent and have the „rw" attribute) signal with the old values. (i.e. Emergency ID,...)

5.3.4.2.12Object 0x1011, Restore default Parameters

This object allows to reset the user stored parameters to the original default values.

Sub-indexes 2 and 3 are not supported.

The load command is processed in the background and takes approx. 2-3 seconds. When the performance is finished, the SDO reply message is sent. Communication can be continued during performance using SDOs. An error message is only tripped with another attempt to send a load command, if the previous one is not yet completed. It is also not possible to trigger a load command for as long as „Save" is active.

5.3.4.2.12.1Sub-index 1 - Permanent entry of default parameters

Writing the signature „load" (lower case letters ASCII - MSB 0x64 0x61 0x6F 0x6C LSB) into the index 0x1011 sub-index 1 entails loading of the standard factory settings after the following Power ON and each further Power On (until the next SAVE command is given).

5.3.4.2.12.2Sub-index 4 – On-off entry of default parameters

Writing the signature „load" (lower case letters ASCII - MSB 0x64 0x61 0x6F 0x6C LSB) into the index 0x1011 sub-index 4 entails loading of the standard factory settings once only after the following Power ON. The saved configuration is re-loaded after each further Power ON. This feature can, for instance, be used during the development phase in order to quickly obtain a behavior comparison of saved and default configurations without having to re-set and re-store all parameters each time.

WAGO-I/O-SYSTEM 750

CANopen

CANopen • 153

Network Communication

Sequence:

replace configuration once by default configuration -> load (Index 0x1011, sub-index 4)

-> Reset

-> default values

(re-use of the load (index 0x1011, sub-index 4) command is not permitted in this status!) -> Reset

-> stored configuration

5.3.4.2.13Object 0x1014, COB-ID Emergency Object

The object defines the COB ID for the EMCY message.

Design:

If a new COB ID is to be entered, set bit 31 to 1 first, because standard DS301 does not allow to change a valid COB ID (Bit31=0).

5.3.4.2.14Object 0x1015, Inhibit Time Emergency Object

This object indicates the time in minutes which must be allowed to elapse prior to another Emergency to be sent.

An entry of zero deactivates the delayed transmission.

Due to the fact that with delayed transmission the entries are entered in a queue, the max. number of Emergencies in quick succession is limited to the queue size (20 entries). If this number is exceeded, an Emergency is sent immediately indicating the overflow.

One time unit is 100µs.

WAGO-I/O-SYSTEM 750

CANopen

154 • CANopen

Network Communication

5.3.4.2.15Object 0x1016, Consumer Heartbeat Time

This entry allows the monitoring of a maximum of 5 modules. The system checks whether each module defined in this object has created a Heartbeat within the set time. If the set time was exceeded, a Heartbeat-Event is triggered. The Heartbeat-Time is entered in milli-seconds. The monitoring is deactivated, if the time value is 0.

Design:

5.3.4.2.16Object 0x1017, Producer Heartbeat Time

The object defines the time between two Heartbeat messages sent in milliseconds. If the time is 0, no Heartbeat is sent. The Heartbeat transmission starts as soon as a value other than 0 is entered.

5.3.4.2.17Object 0x1018, Identity Object

The object specifies the device used.

The manufacturer ID has an unambiguous number assigned to each manufacturer. WAGO was assigned ID 33.

The device description reflects the product family.

The Rev. No. contains a specific CANopen behavior, the Major-Rev.-No. contains the CANopen functionality. If the functionality is changed, the Ma-

WAGO-I/O-SYSTEM 750

CANopen

CANopen • 155

Network Communication

jor-Rev.-No. is increased. Various versions of the same CANopen behavior can be differentiated by the Minor-Rev.-No.

Design Rev. No.:

The serial number is unambiguous for this device family.

5.3.4.2.18Object 0x1200– 0x1201, Server SDO

Access to the entries in the object directory is made via this object.

The default value of the second SDO is not active. Any change to the COB IDs is prohibited in the second SDO, if these are active (Bit 31 = 0).

Design COB-ID:

5.3.4.2.19Object 0x1280– 0x128F, Client SDO

This object allows the master operation for a fieldbus node with controller. The fieldbus controller currently supports 16 client SDOs.

The fieldbus node is only able to treat one single client SDO. When this process is completed, a further client SDO can be sent. In its function of a network management master the controller can manage a maximum of 20 modules.

Design COB-ID:

WAGO-I/O-SYSTEM 750

CANopen