Lenze CANopen Controller-based Automation Bedienungsanleitung PDF herunterladen (Seite 94)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 94

12 Restarting the CAN bus

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12 Restarting the CAN bus

During operation, the CAN bus may have to be restarted. This is e.g. required after serious

disturbances such as a cable break.

 How to restart the CAN bus:

1. Activate the controller inhibit for the drive controllers.

2. Call the NMT function block (see below) from the CAA_CiA405.lib function library.

When an error has occurred, set RESET_COMMUNICATION and then

START_REMOTE_NODE separately for each CANopen node.

The following steps are only required for Motion devices:

3. Call the SMC3_ReInitDrive function block from the SM3_Basic.lib function library.

4. Call the MC_Reset function block from the SM3_Basic.lib function library.

Inputs of the function block "NMT"

NMT

USINT  NETWORK Confirm  BOOL

BOOL  ENABLE Error  CANOPEN_KERNEL_ERROR

UDINT  TIMEOUT

Device  Device

TRANSITION_STATE  State

Identifier/data type Meaning/possible settings

NETWORK

USINT

CAN interface number: "1" or "2"

ENABLE

BOOL

Function block enable

• TRUE: Function block is enabled.

• FALSE: Function block is not enabled.

TIMEOUT

UDINT

Maximum execution time of function block in [ms]

• The initial value "0" means that the monitoring is deactivated.

Device

CAN node number of slave

STATE

TRANSITION_STATE

NMT status of slave:

• STOP_REMOTE_NODE (16#04)

• START_REMOTE_NODE (16#05)

• RESET_NODE (16#06)

• RESET_COMMUNICATION (16#07)

• ENTER_PRE_OPERATIONAL (16#7F)

• ALL_EXCEPT_NMT_AND_SENDER (16#800)

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