CO_MasterControlStatus

CO_MasterControlStatus monitors CANopen master status while Execute is TRUE. It can disable CANopen communication through DisableComm and send a Network Management (NMT) command on a rising edge of SendNMT.

Ladder Representation

Block Structure

Variable Type	Name	Data Type	Description
VAR_INPUT	Execute	BOOL	Enables block execution.
VAR_INPUT	DisableComm	BOOL	Disables CANopen communication.
VAR_INPUT	SendNMT	BOOL	Triggers the sending of a network management command.
VAR_INPUT	NMTCommand	BYTE	Network management command code to send.
VAR_INPUT	NodeID	BYTE USINT	Slave address used by the block.
VAR_OUTPUT	Done	BOOL	Indicates that the block completed successfully.
VAR_OUTPUT	CommDisabled	BOOL	Indicates that communication is disabled.
VAR_OUTPUT	BusPowerOff	BOOL	Indicates a CAN interface power supply failure.
VAR_OUTPUT	BusOff	BOOL	Indicates a BusOff error in the CAN interface.
VAR_OUTPUT	NMTCmdFeedback	BOOL	Indicates that the master sent the NMT command.
VAR_OUTPUT	ErrorCtrlFailure	BOOL	Indicates a node guarding or heartbeat error.
VAR_OUTPUT	InitFailure	BOOL	Indicates an initialization error.
VAR_OUTPUT	InitFinished	BOOL	Indicates that the slave initialization procedure finished.

Operation

While Execute is TRUE, the block updates its outputs according to the master status and the input requests. When Execute is FALSE, the inputs are ignored and the outputs are reset. Done is TRUE when Execute is TRUE and the block has completed execution.

When DisableComm is TRUE, CANopen communication is disabled and the master status counters and markers are reset.

A rising edge on SendNMT sends the NMT command selected in NMTCommand to the slave address configured in NodeID.

Each status output is TRUE when the CANopen master status matches the condition described by that output.

Execution Flowchart

Structured Text Example

The following Structured Text code shows a typical block execution.

Structured Text

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);