Details of T_COM_CO_BMX IODDT
(Original Document)
About us
Implicit Exchange Objects of the IODDT
Implicit exchange objects are automatically exchanged at each cycle of a task associated with the channel. These objects are %I, %IW, %Q and %QW.
The table below presents the various implicit exchange objects of IODDT T_COM_CO_BMX.
The parameters r, m and c shown in the following-tables represent the topological addressing of the module. Each parameter has the following signification:
Channel Error
The table below presents the bit %Ir.m.c.ERR:
Standard symbol
Type
Access
Description
Address
CH_ERROR
BOOL
R
Channel detected error
%Ir.m.c.ERR
Master Status and Event Indicator
The table below shows the words %IWr.m.c.0 to %IWr.m.c.2:
Standard symbol
Type
Access
Description
Address
COMM_STS
INT
R
Communication status of master
%IWr.m.c.0
CAN_STS
INT
R
Status of CANopen Master
%IWr.m.c.1
EVT_STS
INT
R
Event indicator
%IWr.m.c.2
The following figure gives an example of Master status indicator:
In this example, the word %IW0.0.2.1 gives the status of the CANopen Master. The parameters are as follows:
The last parameter (‘1’) indicates the used word (CAN_STS).
The table below shows the meaning of bits from various status words from the master and event indicators:
Addresses
Description
Bit meaning
%IWr.m.c.0
Communication status of master
Bit 0=1: Overflow of the reception queue low priority. The CANopen master is receiving "Heartbeat" and "Node guarding" messages as well as SSDOs and CSDOs via the low priority queue.
Bit 1=1: FIFO overwrite of CAN controller
Bit 2=1: The CAN controller has status "BUS Off".
Bit 3=1: CAN controller doesn't run correctly and stops. Bit reset when the condition disappears.
Bit 4=1: The CAN controller has left abnormal state.
Bit 5=1: Overflow of the emission queue low priority. The CANopen master is transmitting "Heartbeat" and "Node guarding" messages as well as SSDOs and CSDOs via the low priority transmission queue.
Bit 6=1: Overflow of the reception queue high priority. The CANopen master is receiving RPDOs, NMT commands, the message Sync and emergency messages via the high priority reception queue.
Bit 7=1: Overflow of the reception queue high priority. The CANopen master is sending TPDOs, NMT commands, the message Sync and emergency messages via the high priority queue.
Bit 8=1: Indicates the task cycle is faster than the CANopen master cycle (outputs can be overwritten). To avoid overwrite, you are advised to set a longer task cycle time that the CANopen cycle. The cycle values are available in the words %IWr.m.c.59 to %IWr.m.c.61.
%IWr.m.c.1
Status of CANopen Master
0x00: INIT: The CANopen master is not initialized. This corresponds to the "INITIALISATION" status of the CANopen module. In this state, the CANopen master cannot communicate with the network.
0x40: RESET: The CANopen master is configured as master during "NMT startup". The object dictionary of CANopen master can be configured by SDOs via the CAN bus and the interface of the SDO command. The application has access rights to read/write to the object dictionary via the SDO command. The initialization of network manager has not started yet.
= 0x60: NET –INIT: Starting according to CIA DSP-302. The CANopen master is checking the allocation of slaves.
= 0x61: NET RESET: The network is re-initialized by the NMT command "Reset communication all nodes"
= 0x62: NET –WAIT: The CANopen master is waiting for the modules to be able to run the command "Reset communication".
0x64: BOOT –CONF: The CANopen master is running the individual initialization of modules according to CIA DSP-302.
0x8x: CLEAR:The network is scanned. The master is waiting for a start command ("Start CANopen Master/Manager" or "Start network").
0xAx: RUN The network is in "Operational" state.
0xCx: STOP The network is in "Stop" state.
0xEx: PREOPERATIONAL: The network is in "Pre-operational" status.
0x9x: FATAL ERROR: An unexpected behavior has occurred. The CANopen master must be re-initialized.
The network is scanned. The four most significant bits of the status variable indicate the state of the network (CLEAR, RUN, STOP, PREOPERATIONAL). The four less significant bits contain additional information:
Bit 0: Error bit for optional modules.
  • = 0: OK.
  • = 1: At least one of the optional modules doesn’t correspond to the configuration of the expected network.
Bit 1: Error bit for obligatory modules.
  • = 0: OK.
  • = 1: At least one of the obligatory modules is not in the expected status.
Bit 2: Bit “Operational”
  • = 0: No module including the CANopen Master is in CANopen “Operational” status
  • = 1: At least one of the modules is in “Operational” status (excluding the CANopen Master)
Bit 3: “Operational” bit of CANopen Master
  • = 0: The CANopen master is not in “Operational” state
  • = 1: The CANopen Master is in “Operational” status.
%IWr.m.c.2
Event indicator
Bit 0 = 1: This bit is always set when a detected error has occurred in the communication with the network. The communication status of CANopen Master gives the exact reason. (The CANopen master is unable to run correctly and stops).
Bit 1 = 1: A module is using the node number of CANopen Master. (The CANopen master is unable to run correctly and stops).
Bit 2 = 1: Detected error control event of a mandatory module. The reaction to this event depends on the configuration of the NMT startup object. This bit is relevant if the configuration of the NMT startup object does not stipulate a reset of the whole network including the CANopen master. In this case, a reset is carried out without the application being informed beforehand.
Bit 3 = 1: Identity detected error or incorrect DCF of a mandatory module. (The CANopen master is unable to run correctly and stops).
Bit 4 = 1: The concerned module is in "Stop" state.
Bit 5 = 1: During auto-configuration, the creation of a configuration of the process image and the PDOs are incorrect. (The CANopen master is unable to run correctly and stops).
Bit 6 = 1: During the network scanning in the auto-configuration mode, a detected error control event of an already scanned module occurred. (The CANopen master is unable to run correctly and stops)
Bit 7 = 1: This bit is always set if a bit in one of the bit list changes.
Bit 8 = 1: At the beginning of the Boot Up procedure, the CANopen master checks the individual slave assignment. This bit is set by the slave assignment of a module contain features which are not supported by the CANopen master (e.g bit 4 to bit 6 of object 1F81H). (The CANopen master is unable to run correctly and stops).
Bit 9 = 1: The CANopen Master has received an RPDO with too few databytes. (The CANopen master is unable to run correctly and stops).
Bit 10 = 1: A concise DCF is faulty: If the state < CLEAR then the CANopen master is unable to run correctly and stops; if the state >= CLEAR then the indication is in the event queue and slave is not rebooted.
There is a mismatch between the DCF and the slave’s Object Dictionary, resulting in the SDO abort during the concise DCF’s download: the indication is in the event queue and the manager retries the download of the DCF; or the indication does not match with the Object Dictionary of the slave module, therefore the CANopen master is unable to run correctly and stops.
Bit 11 = 1: This bit indicates an indication queue overrun of the application-specific SDO interface.
Bit 12 = 1: The last master cycle time is greater than 256 ms.
Bit 13 = 1: The master is the only CAN device on the network. It gets no acknowledgment to its transmitted frames. All nodes are marked as absent. The master keeps its state until the “alone” situation is released.
Bit 14 = 1: Reserved.
Bit 15 = 1: The Master is alone on the bus (Check that the cable is connected).
Assigned Slaves
The table below shows the words %IWr.m.c.3 to %IWr.m.c.6:
Standard symbol
Type
Access
Description
Address
SLAVE_ASSIGNED_1_16
INT
R
For assigned slaves from 1 to 16
%IWr.m.c.3
SLAVE_ASSIGNED_17_32
INT
R
For assigned slaves from 17 to 32
%IWr.m.c.4
SLAVE_ASSIGNED_33_48
INT
R
For assigned slaves from 33 to 48
%IWr.m.c.5
SLAVE_ASSIGNED_49_63
INT
R
For assigned slaves from 49 to 63
%IWR.m.c.6
If the bit is equal to 0, no slave is assigned to this bit.
If the bit is equal to 1, a slave is assigned to this bit.
The node number corresponds to the number of the bit + 1.
Slaves Configured
The table below shows the words %IWr.m.c.11 to %IWr.m.c.14:
Standard symbol
Type
Access
Description
Address
SLAVE_CONF_1_16
INT
R
For configured slaves from 1 to 16
%IWr.m.c.11
SLAVE_CONF_17_32
INT
R
For configured slaves from 17 to 32
%IWr.m.c.12
SLAVE_CONF_33_48
INT
R
For configured slaves from 33 to 48
%IWr.m.c.13
SLAVE_CONF_49_63
INT
R
For configured slaves from 49 to 63
%IWr.m.c.14
If the bit is equal to 0, the slave is not configured and cannot start.
If the bit is equal to 1, the slave is configured and can be started.
The node number corresponds to the number of the bit + 1.
Slaves with Configuration Faults
The table below shows the words %IWr.m.c.19 to %IWr.m.c.22:
Standard symbol
Type
Access
Description
Address
SLAVE_FLT_1_16
INT
R
Slaves with configuration faults from 1 to 16
%IWr.m.c.19
SLAVE_FLT_17_32
INT
R
Slaves with configuration faults from 17 to 32
%IWr.m.c.20
SLAVE_FLT_33_48
INT
R
Slaves with configuration faults from 33 to 48
%IWr.m.c.21
SLAVE_FLT_49_63
INT
R
Slaves with configuration faults from 49 to 63
%IWr.m.c.22
If the bit is equal to 0, the assigned slave corresponds to the configuration.
If the bit is equal to 1, the assigned slave does not correspond to the configuration.
The node number corresponds to the number of the bit + 1.
Inoperative Slaves
The table below shows the words %IWr.m.c.27 to %IWr.m.c.30:
Standard symbol
Type
Access
Description
Address
SLAVE_EMCY_1_16
INT
R
Slaves from 1 to 16
%IWr.m.c.27
SLAVE_EMCY_17_32
INT
R
Slaves from 17 to 32
%IWr.m.c.28
SLAVE_EMCY_33_48
INT
R
Slaves from 33 to 48
%IWr.m.c.29
SLAVE_EMCY_49_63
INT
R
Slaves from 49 to 63
%IWr.m.c.30
If the bit is equal to 0, the slave is properly operating.
If the bit is equal to 1, the slave is improperly operating.
The node number corresponds to the number of the bit + 1.
Operational Slaves from 1 to 16
The table below presents the word %IWr.m.c.35:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_1
BOOL
R
Slave operational on the bus: device 1
%IWr.m.c.35.0
SLAVE_ACTIV_2
BOOL
R
Slave operational on the bus: device 2
%IWr.m.c.35.1
SLAVE_ACTIV_3
BOOL
R
Slave operational on the bus: device 3
%IWr.m.c.35.2
SLAVE_ACTIV_4
BOOL
R
Slave operational on the bus: device 4
%IWr.m.c.35.3
SLAVE_ACTIV_5
BOOL
R
Slave operational on the bus: device 5
%IWr.m.c.35.4
SLAVE_ACTIV_6
BOOL
R
Slave operational on the bus: device 6
%IWr.m.c.35.5
SLAVE_ACTIV_7
BOOL
R
Slave operational on the bus: device 7
%IWr.m.c.35.6
SLAVE_ACTIV_8
BOOL
R
Slave operational on the bus: device 8
%IWr.m.c.35.7
SLAVE_ACTIV_9
BOOL
R
Slave operational on the bus: device 9
%IWr.m.c.35.8
SLAVE_ACTIV_10
BOOL
R
Slave operational on the bus: device 10
%IWr.m.c.35.9
SLAVE_ACTIV_11
BOOL
R
Slave operational on the bus: device 11
%IWr.m.c.35.10
SLAVE_ACTIV_12
BOOL
R
Slave operational on the bus: device 12
%IWr.m.c.35.11
SLAVE_ACTIV_13
BOOL
R
Slave operational on the bus: device 13
%IWr.m.c.35.12
SLAVE_ACTIV_14
BOOL
R
Slave operational on the bus: device 14
%IWr.m.c.35.13
SLAVE_ACTIV_15
BOOL
R
Slave operational on the bus: device 15
%IWr.m.c.35.14
SLAVE_ACTIV_16
BOOL
R
Slave operational on the bus: device 16
%IWr.m.c.35.15
The node number corresponds to the number of the bit + 1.
Operational Slaves from 17 to 32
The table below presents the word %IWr.m.c.36:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_17
BOOL
R
Slave operational on the bus: device 17
%IWr.m.c.36.0
SLAVE_ACTIV_18
BOOL
R
Slave operational on the bus: device 18
%IWr.m.c.36.1
SLAVE_ACTIV_19
BOOL
R
Slave operational on the bus: device 19
%IWr.m.c.36.2
SLAVE_ACTIV_20
BOOL
R
Slave operational on the bus: device 20
%IWr.m.c.36.3
SLAVE_ACTIV_21
BOOL
R
Slave operational on the bus: device 21
%IWr.m.c.36.4
SLAVE_ACTIV_22
BOOL
R
Slave operational on the bus: device 22
%IWr.m.c.36.5
SLAVE_ACTIV_23
BOOL
R
Slave operational on the bus: device 23
%IWr.m.c.36.6
SLAVE_ACTIV_24
BOOL
R
Slave operational on the bus: device 24
%IWr.m.c.36.7
SLAVE_ACTIV_25
BOOL
R
Slave operational on the bus: device 25
%IWr.m.c.36.8
SLAVE_ACTIV_26
BOOL
R
Slave operational on the bus: device 26
%IWr.m.c.36.9
SLAVE_ACTIV_27
BOOL
R
Slave operational on the bus: device 27
%IWr.m.c.36.10
SLAVE_ACTIV_28
BOOL
R
Slave operational on the bus: device 28
%IWr.m.c.36.11
SLAVE_ACTIV_29
BOOL
R
Slave operational on the bus: device 29
%IWr.m.c.36.12
SLAVE_ACTIV_30
BOOL
R
Slave operational on the bus: device 30
%IWr.m.c.36.13
SLAVE_ACTIV_31
BOOL
R
Slave operational on the bus: device 31
%IWr.m.c.36.14
SLAVE_ACTIV_32
BOOL
R
Slave operational on the bus: device 32
%IWr.m.c.36.15
Operational Slaves from 33 to 48
The table below shows the word %IWr.m.c.37:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_33
BOOL
R
Slave operational on the bus: device 33
%IWr.m.c.37.0
SLAVE_ACTIV_34
BOOL
R
Slave operational on the bus: device 34
%IWr.m.c.37.1
SLAVE_ACTIV_35
BOOL
R
Slave operational on the bus: device 35
%IWr.m.c.37.2
SLAVE_ACTIV_36
BOOL
R
Slave operational on the bus: device 36
%IWr.m.c.37.3
SLAVE_ACTIV_37
BOOL
R
Slave operational on the bus: device 37
%IWr.m.c.37.4
SLAVE_ACTIV_38
BOOL
R
Slave operational on the bus: device 38
%IWr.m.c.37.5
SLAVE_ACTIV_39
BOOL
R
Slave operational on the bus: device 39
%IWr.m.c.37.6
SLAVE_ACTIV_40
BOOL
R
Slave operational on the bus: device 40
%IWr.m.c.37.7
SLAVE_ACTIV_41
BOOL
R
Slave operational on the bus: device 41
%IWr.m.c.37.8
SLAVE_ACTIV_42
BOOL
R
Slave operational on the bus: device 42
%IWr.m.c.37.9
SLAVE_ACTIV_43
BOOL
R
Slave operational on the bus: device 43
%IWr.m.c.37.10
SLAVE_ACTIV_44
BOOL
R
Slave operational on the bus: device 44
%IWr.m.c.37.11
SLAVE_ACTIV_45
BOOL
R
Slave operational on the bus: device 45
%IWr.m.c.37.12
SLAVE_ACTIV_46
BOOL
R
Slave operational on the bus: device 46
%IWr.m.c.37.13
SLAVE_ACTIV_47
BOOL
R
Slave operational on the bus: device 47
%IWr.m.c.37.14
SLAVE_ACTIV_48
BOOL
R
Slave operational on the bus: device 48
%IWr.m.c.37.15
Operational Slaves from 49 to 63
The table below shows the word %IWr.m.c.38:
Standard symbol
Type
Access
Description
Address
SLAVE_ACTIV_49
BOOL
R
Slave operational on the bus: device 49
%IWr.m.c.38.0
SLAVE_ACTIV_50
BOOL
R
Slave operational on the bus: device 50
%IWr.m.c.38.1
SLAVE_ACTIV_51
BOOL
R
Slave operational on the bus: device 51
%IWr.m.c.38.2
SLAVE_ACTIV_52
BOOL
R
Slave operational on the bus: device 52
%IWr.m.c.38.3
SLAVE_ACTIV_53
BOOL
R
Slave operational on the bus: device 53
%IWr.m.c.38.4
SLAVE_ACTIV_54
BOOL
R
Slave operational on the bus: device 54
%IWr.m.c.38.5
SLAVE_ACTIV_55
BOOL
R
Slave operational on the bus: device 55
%IWr.m.c.38.6
SLAVE_ACTIV_56
BOOL
R
Slave operational on the bus: device 56
%IWr.m.c.38.7
SLAVE_ACTIV_57
BOOL
R
Slave operational on the bus: device 57
%IWr.m.c.38.8
SLAVE_ACTIV_58
BOOL
R
Slave operational on the bus: device 58
%IWr.m.c.38.9
SLAVE_ACTIV_59
BOOL
R
Slave operational on the bus: device 59
%IWr.m.c.38.10
SLAVE_ACTIV_60
BOOL
R
Slave operational on the bus: device 60
%IWr.m.c.38.11
SLAVE_ACTIV_61
BOOL
R
Slave operational on the bus: device 61
%IWr.m.c.38.12
SLAVE_ACTIV_62
BOOL
R
Slave operational on the bus: device 62
%IWr.m.c.38.13
SLAVE_ACTIV_63
BOOL
R
Slave operational on the bus: device 63
%IWr.m.c.38.14
Slave in Stop State
The table below shows the words %IWr.m.c.43 to %IWr.m.c.46:
Standard symbol
Type
Access
Description
Address
SLAVE_STOPPED_1_16
INT
R
Stopped slaves from 1 to 16
%IWr.m.c.43
SLAVE_STOPPED_17_32
INT
R
Stopped slaves from 17 to 32
%IWr.m.c.44
SLAVE_STOPPED_33_48
INT
R
Stopped slaves from 33 to 48
%IWr.m.c.45
SLAVE_STOPPED_49_63
INT
R
Stopped slaves from 49 to 63
%IWr.m.c.46
Pre-Operational Slaves
The table below shows the words %IWr.m.c.51 to %IWr.m.c.54:
Standard symbol
Type
Access
Description
Address
SLAVE_PREOP_1_16
INT
R
Pre-operational slaves from 1 to 16.
%IWr.m.c.51
SLAVE_PREOP_17_32
INT
R
Pre-operational slaves from 17 to 32.
%IWr.m.c.52
SLAVE_PREOP_33_48
INT
R
Pre-operational slaves from 33 to 48.
%IWr.m.c.53
SLAVE_PREOP_49_63
INT
R
Pre-operational slaves from 49 to 63.
%IWr.m.c.54
Master Cycle Time
The table below shows the meaning of status words relative to the time cycle of the master:
Addresses
Description
Meaning
%IWr.m.c.59
Minimum master cycle time
Minimum value of the CANopen master cycle time in ms.
%IWr.m.c.60
Current master cycle time
Current value of the CANopen master cycle time in ms.
%IWr.m.c.61
Maximum master cycle time
Maximum value of the CANopen master cycle time in ms.
The following symbols are accessible %IW.r.m.c.59 to %IW.r.m.c.61:
Reset Emergency Default
The table below shows the meaning of the Reset Emergency Default objects:
Addresses
Description
Standard Symbol
Bit meaning
%QWr.m.c.0
Command word of the CANopen master
INT_ERR_BIT
Bit 0 = 1: Reset emergency slaves bit list. This bit is set to zero after the reset of the bitlist.
Bit 1 = 1: Reset bit 8 (overrun) in common status (%IW0.0.2.0). The bit 1 is set to zero after the reset of the bit 8.
Bit 2 = 1: Reset bit 7 (change bit list) of event indicator (%IW0.0.2.2).The bit 2 is set to zero after the reset of the bit 7.
Bit 3 = 1: Reset quality information: %ID0.y.2.66 to %IW0.y.2.72. This bit is set to zero after the reset of the words and the measure restarts.
Bit 4 = 1: Reset bus load information:%IW0.y.2.62 to %IW0.y.2.64. This bit is set to zero after the reset of the words and the measure restarts.
Bit 5 = 1: Reset the CANopen master (useful to restart in Fatal Error without power down/up).The bit is set to zero after the reset of the master.
Bit 6 to bit 15: Reserved
Explicit Exchanges Objects of the IODDT
This part shows the explicit exchange language objects for the CANopen master.
These objects are exchanged on the application's request, using the instruction READ_STS.
The parameters r, m and c shown in the following tables represent the topological addressing of the module. Each parameter has the following signification:
Execution Indicator: EXCH_STS
The table below shows the meanings of channel exchange control bits from channel EXCH_STS (%MWr.m.c.0):
Symbol
Type
Access
Description
Number
STS_IN_PROGR
BOOL
R
Status parameter read in progress
%MWr.m.c.0.0
Exchange Report: EXCH_RPT
The table below presents the meaning of the run report bits of the channel EXCH_RPT (%MWr.m.c.1):
Symbol
Type
Access
Description
Number
STS_ERR
BOOL
R
Detected error while reading channel status
%MWr.m.c.1.0
Standard Channel Faults: CH_FLT
The following table explains the meaning of the CH_FLT (%MWr.m.c.2) status word bits. Reading is performed by a READ_STS:
Object
Function
Standard Symbol
Type
Access
Meaning
%MWr.m.c.2
Status of the CANopen Master
CAN_FLT
BOOL
R
Bit 0 = 1: The CANopen Master is not in operational state.
FEW_SLAVE_FLT
BOOL
R
Bit 1 = 1: One or more slaves are not in an operational state.
CAN_OFF
BOOL
R
Bit 2: Reserved.
CONF_FLT
BOOL
R
Bit 3 = 1: Configuration detected error.
Bit 4 to bit 7: Reserved.
Bit 8 to Bit 10: CAN ERR led:
  • 000 = off
  • 001 = single flash
  • 010 = double flash
  • 011 = triple flash
  • 111 = on
Bit 11 to Bit 13: CAN RUN led:
  • 001 = single flash
  • 100 = blinking
  • 111 = on
Bit 14 to Bit 15: Reserved.
%MWr.m.c.3
Generic detected error count
Number of received emergency messages with code 10xxH
%MWr.m.c.4
Device hardware detected error count
Number of received emergency messages with code 50xxH
%MWr.m.c.5
Device software detected error count
Number of received emergency messages with code 60xxH
%MWr.m.c.6
Communication detected error count
Number of received emergency messages with code 81xxH
%MWr.m.c.7
Protocol detected error count
Number of received emergency messages with code 82xxH
%MWr.m.c.8
External detected error count
Number of received emergency messages with code 90xxH
%MWr.m.c.9
Device-specific
Number of received emergency messages with code FFxxH