Equipments (Devices) > PLC300 > Ladder > Communication Network > CANopen > CO

Block that allows monitoring various statuses of the CANopen network master.

Ladder Representation

CO_MASTERCONTROLSTATUS_block

Block Structure

Variable Type	Name	Data Type	Description
VAR_INPUT	Execute	BOOL	Block enabling
	DisableComm	BOOL	Disables CANopen communication
	SendNMT	BOOL	Triggers management command sending
	NMTCommand	BYTE	Management command code to be sent
	NodeID	BYTE USINT	Slave address for sending the NMT
VAR_OUTPUT	Done	BOOL	Output enabling
	CommDisabled	BOOL	Disabled communication flag
	BusPowerOff	BOOL	Flag of a power failure of CAN interface
	BusOff	BOOL	Flag indicating BusOff error at the CAN interface
	NMTCmdFeedback	BOOL	Flag of NMT command sent by the master
	ErrorCtrlFailure	BOOL	Flag indicating error of nodeguarding or heartbeat in a slave network
	InitFailure	BOOL	Flag indicating error in the initialization of the slavee network
	InitFinished	BOOL	Flag indicating the initialization of the slaves was completed

Operation

This block remains active while Execute is at TRUE level, updating its outputs according to the monitoring of the master and input requests. When Execute receives FALSE level, the inputs are ignored and the outputs are zeroed. The Done output receives TRUE level when Execute has TRUE level and block finished its execution.

A TRUE level DisableComm disables the CANopen communication and resets the status counters and markers of the master.

A leading edge on SendNMT sends a command management (NMT) indicated at NMTCommand to the slave of NodeID address.

Outputs receive TRUE level when the status of the CANopen master matches description (disabled communication, power failure, etc.).

Block Flowchart

CO_MASTERCONTROLSTATUS_flowchart

Example in Ladder

CO_MASTERCONTROLSTATUS_example01

The example above requests status data of the CANopen network master, and allows disabling communication through DISABLE and to send commands NMT to NODEID through SEND_COMM. The block ends successfully, Done output is activated.

Example in ST

The example below displays the instructions for applying the example above in the ST language.

VAR

DISABLE, SEND_COMM, STATUS_DISABLED, STATUS_POWEROFF,

STATUS_BUSOFF, STATUS_FB, STATUS_ERROR, STATUS_FAILURE,

STATUS_FINISHED: BOOL;

COMM, NODEID: BYTE;

END_VAR

DO1 := FB_CO_MasterControlStatus(

Execute:=DI1,

DisableComm:=DISABLE,

SendNMT:=SEND_COMM,

NMTCommand:=COMM,

NodeID:=NODEID,

CommDisabled=>STATUS_DISABLED,

BusPowerOff=>STATUS_POWEROFF,

BusOff=>STATUS_BUSOFF,

NMTCmdFeedback=>STATUS_FB,

ErrorCtrlFailure=>STATUS_ERROR,

InitFailure=>STATUS_FAILURE,

InitFinished=>STATUS_FINISHED);