Details of T_COM_CPP110 Type Implicit Exchange Objects of the IODDT
(Original Document)
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At a Glance
The tables below describe all the language objects with implicit exchange of the IODDT of type T_COM_CPP110 for a CANopen communication with the PCMCIA TSX CPP 110 card.
Error Bit
The table below shows the different bit objects for implicit exchange.
Standard symbol
Type
Access
Meaning
Address
CH_ERROR
EBOOL
R
Communication channel error bit.
%I0.m.0.ERR
Communication Status Bits
The table below presents the error word for management of the CANopen bus. This is detailed bit by bit.
Standard symbol
Type
Access
Meaning
Address
CAN_FLT
BOOL
R
Channel error, logical OR between all the bits that follow except bit 15.
%IW0.m.1.0.0
SOFT_CONF
BOOL
R
Incorrectly configured
%IW0.m.1.0.8
PDO_EXCH_FLT
BOOL
R
Error in I/O exchange (PDO)
%IW0.m.1.0.9
MSG_EXCH_FLT
BOOL
R
Messaging exchange error (SDO)
%IW0.m.1.0.10
CARD_FLT
BOOL
R
Card error (card missing or not ready)
%IW0.m.1.0.11
BUS_FLT
BOOL
R
Bus fault (at least one bus error type event has been generated)
%IW0.m.1.0.12
SLAVE_FLT_B
BOOL
R
Slave fault (a communication error has been detected with one or more slaves)
%IW0.m.1.0.13
OUTP_FLT
BOOL
R
Output error (outputs are positioned at fallback conditions)
%IW0.m.1.0.14
SLAVE_DIAG
BOOL
R
New slave diagnostics available (a new diagnostic is available for one or more slaves)
%IW0.m.1.0.15
CANopen Master Status Bits
The table below presents the error word of the CANopen bus master MAST_STS (%IW0.m.1.3). This is detailed bit by bit.
Standard symbol
Type
Access
Meaning
Address
PARAM_FLT
BOOL
R
Parameters error
%IW0.m.1.3.0
SLAVE_OUTP_FLT
BOOL
R
Indicates that the outputs are at zero following the failure of a slave, Autoclear ON.
%IW0.m.1.3.1
NO_BUS_EXCH
BOOL
R
No exchanges on the bus (no slave is communicating)
%IW0.m.1.3.2
CARD_NO_ACT
BOOL
R
Serious error, the card is not active on the bus
%IW0.m.1.3.3
FEW_BUS_ERR
BOOL
R
One or more bus error events have been detected
%IW0.m.1.3.4
CARD_ACC_PROH
BOOL
R
The processor has not yet authorized access to the card.
%IW0.m.1.3.5
TIMEOUT_MSG
BOOL
R
Timeout exceeded when sending CAN messages
%IW0.m.1.3.6
CNX_FLT
BOOL
R
Faulty connection between the card and the connection unit.
%IW0.m.1.3.7
-
-
R
Bits 8 to 15 of MAST_STS constitute a byte whose value indicates the operating mode.
  • 16#00: offline mode
  • 16#40: bus in STOP mode
  • 16#80: outputs are in security mode (set to zero)
  • 16#C0: bus in RUN mode
%IW0.m.1.3.8 to %IW0.m.1.3.15
Status Word for Bus Devices
The table below presents the status word for the CANopen bus devices.
Standard symbol
Type
Access
Meaning
Address
SLAVE_STS
INT
R
The least significant byte (bits 0 to 7) contains the address of the slave which has generated the last error.
The most significant byte (bits x8 to x15) contains the last error code.
%IW0.m.1.4
Bus Status Words
The table below presents the status words for the CANopen bus. These words are broken down into bits that each represent a bus slave.
Standard symbol
Type
Access
Meaning
Address
SLAVE_ACTIV_0
BOOL
R
Slave 0 active on the bus.
%IW0.m.1.8.0
SLAVE_ACTIV_1
BOOL
R
Slave 1 active on the bus.
%IW0.m.1.8.1
...
...
...
...
...
SLAVE_ACTIV_15
BOOL
R
Slave 15 active on the bus.
%IW0.m.1.8.15
SLAVE_ACTIV_16
BOOL
R
Slave 16 active on the bus.
%IW0.m.1.9.0
...
...
...
...
...
SLAVE_ACTIV_31
BOOL
R
Slave 31 active on the bus.
%IW0.m.1.9.15
SLAVE_ACTIV_32
BOOL
R
Slave 32 active on the bus.
%IW0.m.1.10.0
...
...
...
...
...
SLAVE_ACTIV_47
BOOL
R
Slave 47 active on the bus.
%IW0.m.1.10.15
SLAVE_ACTIV_48
BOOL
R
Slave 48 active on the bus.
%IW0.m.1.11.0
...
...
...
...
...
SLAVE_ACTIV_63
BOOL
R
Slave 63 active on the bus.
%IW0.m.1.11.15
SLAVE_ACTIV_64
BOOL
R
Slave 64 active on the bus.
%IW0.m.1.12.0
...
...
...
...
...
SLAVE_ACTIV_79
BOOL
R
Slave 79 active on the bus.
%IW0.m.1.12.15
SLAVE_ACTIV_80
BOOL
R
Slave 80 active on the bus.
%IW0.m.1.13.0
...
...
...
...
...
SLAVE_ACTIV_95
BOOL
R
Slave 95 active on the bus.
%IW0.m.1.13.15
SLAVE_ACTIV_96
BOOL
R
Slave 96 active on the bus.
%IW0.m.1.14.0
...
...
...
...
...
SLAVE_ACTIV_111
BOOL
R
Slave 111 active on the bus.
%IW0.m.1.14.15
SLAVE_ACTIV_112
BOOL
R
Slave 112 active on the bus.
%IW0.m.1.15.0
...
...
...
...
...
SLAVE_ACTIV_127
BOOL
R
Slave 127 active on the bus.
%IW0.m.1.15.15
Output Word
The table below presents the output word %QW0.m.1.0 of the CANopen PCMCIA card. It is detailed bit by bit.
Standard symbol
Type
Access
Meaning
Address
ACT_BUS_CONF
BOOL
RW
This bit is only used when the bus startup is managed by the application:
  • 1: activates the bus configuration
  • 0: deactivates the bus configuration
%QW0.m.1.0.0
ACT_DATA_TR
BOOL
RW
This bit is used when the startup is semi-automatic or managed by the application
  • 1: activates data transfer on the bus
  • 0: deactivates data transfer on the bus
%QW0.m.1.0.1
INIT_ERR_BIT
BOOL
RW
Initializes the error bits:
  • I/O errors,
  • messaging errors,
  • history errors.
%QW0.m.1.0.2
INIT_CARD
BOOL
RW
Initializes the PCMCIA card. This bit warm starts the card and is only used when the bus start-up is managed by the application.
%QW0.m.1.0.3
NOTE: Command bits 2 and 3 are not automatically reset to zero by the application.