CIA405.NMT (FB)

CIA405.NMT (FB)

(CAA_CiA405.Library)

Function block CIA405.NMT controls network management functions of one or all CANopen nodes.

Extends CIA405.CIA405BASE.

Input:

NETWORK	USINT	see CIA405.CIA405BASE
ENABLE	BOOL	see CIA405.CIA405BASE
TIMEOUT	UDINT	see CIA405.CIA405BASE
STATE	CIA405.TRANSITION_ STATE	initial: 0
DEVICE	CIA405.DEVICE	Node-ID of the device; 0 means all devices range: 0 … 127 initial: 0

Output:

CONFIRM

BOOL

see CIA405.CIA405BASE

ERROR

CIA405.CANOPEN_

KERNEL_ERROR

see CIA405.CIA405BASE

NMT service diagram

For behavior of ENABLE and CONFIRM see chapter Control mechanism.

For inputs NETWORK and TIMEOUT see chapter Additional parameters .

NMTservice: the NMTservice event is the request to the addressed node (DEVICE=0 means: local device) to perform the requested state transition.

confirm: the event confirm is the positive acknowledgement that the service is processed without error, for example the CANopen kernel returns no error to the function block.

error: the event error is the negative acknowledgement that the service is processes with error, for example the CANopen kernel returns an error to the function block.

Timeout: the time control starts with a rising edge at ENABLE. Timeout event occurs, when there is no acknowledgement returned to the function block before time control reaches the timeout value. When timeout occurs, ERROR = 3.