Input Description

CANOM_NMT can be used to control the operating condition(s) of one specific or all slaves.

Every time a FALSE->TRUE edge is applied to input EN, CANOM_NMT reads the data at its inputs and sends a corresponding request message to the Communication Module. Further FALSE->TRUE edges at input EN are ignored until the processing of the active requests is completed. The completion of the request processing is indicated by DONE = TRUE.

Normally, control of the slave operating states is performed by the automatic control of the CANopen® Communication Module used as NMT master. However, for special applications it can be required to change the state of a specific slave ‘manually’. This functionality can be achieved using CANOM_NMT.

EN

Data_Type	Default_Value	Range	Unit
BOOL	-	-	-

The Function Block is activated (EN = TRUE) or deactivated (EN = FALSE) via input EN. If the Function Block is active, the current values are available at the outputs. If the Function Block detects a CAN Communication Module with a configured CAN 2.0A protocol at the specified SLOT, this is indicated by DONE = TRUE and ERR = FALSE. The corresponding status information is then available at the Function Block outputs.

SLOT

Data_Type	Default_Value	Range	Unit
BYTE	-	-	-

At input SLOT, the Communication Module slot (module number) is selected to used by the Function Block.

The internal Communication Module always has the module number 0. All external Communication Modules are serially numbered from right to left, starting with module number 1.

NODE

Data_Type	Default_Value	Range	Unit
BYTE	-	-	-

At input NODE the node address of the slave is specified the operating condition of which shall be changed. By applying a value of 1 to 127 to input NODE, one specific slave can be called with the corresponding node address. If NODE = 0, the command is sent to all slaves.

NMT_CMD

Data_Type	Default_Value	Range	Unit
BYTE	-	-	-

At input NMT_CMD, the NMT command to be sent is specified. The following NMT commands are defined:

NMT command	Meaning
1	Start remote node (slave)
2	Stop remote node (slave)
128	Enter pre-operational: Set slave to pre-operational mode
129	Reset node (slave)
130	Reset communication