System manual CECX / Bus link module CECX-B-CO
Example 2:
The following telegram is used to reset node 29 (reset):
CAN-Identifier: 0x00
cs=0x81
Node address 0x1C (node 29)
Boot Up Message
After the transition from the status INITIALIZATION to PRE-
OPERATIONAL the CECX-B-CO automatically sends a Boot Up message.
With this it signals that it is now ready to receive SDOs und NMTs and that
it can be started.
Structure of the Boot Up message according to DS 301 V4.01:
Identifier: 0x700 +node address (hex)
Date: 0
Example:
Boot Up message from node 29:
Identifier: 0x71C Date: 0x00
Node monitoring
The CANOpen specification describes two mechanisms for node monitor-
ing; Guarding and Heartbeat.
Both mechanisms are supported by the CECX-B-CO. Only one of the two
mechanisms can be active at any one time.
Guarding
The master monitors the connected periphery via Node Guarding. Hereto
the Master sets Remote Frames (message requirement telegrams).
With the assistance of Life Guarding the periphery can recognize whether
or not a master has failed in which case all outputs are set to 0. The pe-
riphery replies to the Master’s Remote Frames with the guarding message.
This contains the Status-code and a toggle Bit. If this message does not
conform with the message that the Master expects, or in case the master
receives no answer at all, the master assumes that an error occurred at the
periphery.
Heartbeat
At the heartbeat process the periphery and the master transmit the mes-
sages cyclically. This can be done without Remote Frames so that less Bus
load is generated than during the Guarding process.
If the node monitoring is activated by heartbeat, the CECX-B-CO works as
heartbeat producer exclusively.
CECX-II 34-26
Summary of Contents for CECX-X-C1 Series
Page 1: ...Manual Controller Modular CECX CECX X C1 CECX X M1 761886 1112c en ...
Page 2: ...1112c en ...
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Page 7: ...CECX modular control system CECX modular control system ...
Page 46: ...CECX modular control system CECX I 38 ...
Page 47: ...System manual CECX ...
Page 48: ...CECX II ...
Page 56: ...Content System Manual CECX VIII ...
Page 58: ...System manual CECX Product design CECX II 0 2 ...
Page 68: ...System manual CECX Safety notes CECX II 2 6 ...
Page 76: ...System manual CECX System overview CECX II 3 8 ...
Page 84: ...System manual CECX General assembly and installation instructions CECX II 4 8 ...
Page 118: ...System manual CECX Operating behavior CECX II 8 6 ...
Page 122: ...System manual CECX Disposal CECX II 10 2 ...
Page 124: ...System manual CECX Technical data CECX II 11 2 ...
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Page 500: ...System manual CECX Bus link module CECX B CO CECX II 34 64 ...
Page 501: ...The library Ethernet lib The library Ethernet lib ...
Page 505: ...The library EventData lib The library EventData lib ...
Page 511: ...The library IncEnc lib The library IncEnc lib ...
Page 517: ...The Festo_EasyIP lib library ...
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Page 535: ...The library PLCService lib The library PLCService lib ...
Page 542: ...The library PLCService lib CECX VII 6 ...
Page 543: ...The library SysLibComEx lib The library SysLibComEx lib ...
Page 547: ...The Festo_Motion lib library ...
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Page 585: ...The Festo_PartDetector lib library ...
Page 601: ...FED VipWin interface ...
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