BECKHOFF FC5101 - Manual (Page 39)

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Start-up Behaviour of the FC510x CANopen PCI Card
Introduction
The firmware in the FC510x CANopen PCI card treats each individual node separately. The first action follow-
ing the system start is to check for the presence of the expected nodes, and whether they basically correspond
to the devices that have been configured. Following this, each node is parameterised and started, independ-
ently of the others. The starting behaviour of a node is described below.
1. Reset All Nodes
The starting sequence begins with the global Reset Communication telegram, so that all nodes are brought in
to a defined initial state.
2. Identify Node
Presence of the nodes is first established through an SDO upload of the object 0x1000 (device type). The con-
tent supplied by a node is checked for agreement with the expected value. Object 0x1000 is composed of the
profile number and of the additional information - both values can be found on the CAN Node tab.
If both the additional information and the profile number are set to "0", the contents returned for object 0x1000
is not checked. An answer containing an SDO abort protocol cannot be tolerated; the process is interrupted.
For values other than zero, the next step is only taken if the value is as expected. Otherwise the process is
aborted and the node enters state 0x04 (SDO syntax error at start-up if an SDO abort message has been re-
ceived or if the data length is incorrect) or state 0x05 (if there is an SDO data mismatch at start-up or the value
do not comply) and an appropriate error message is displayed in the dialog box.
If the node does not answer the SDO upload telegram, then the SDO protocol is interrupted after it has timed
out (approx. 2 seconds) and then repeated after a waiting time (of approx. 1 second) until the node answers. In
this phase, the node is in state 0x02 (node not found).
If the vendor ID, the product code, the serial no. or the revision no. have been configured to values other than
zero on the CAN Node's tab, then the corresponding values are read and compared in the node's object
0x1018. The booting process is only continued if they are as expected.
3. Set SYNC Time
If synchronous PDOs have been configured, an attempt is now made a to enter the given Sync Cycle Time into
object 0x1006 (SYNC interval). Because this object is optional, the boot up is still continued even if the node
acknowledges negatively - it is, however, necessary for the node to answer.
4. Set PDO Parameters
If the "Auto-download PDO parameters" checkbox on the CAN node's tab has been selected (which it is by
default) then the PDO parameters for all the configured PDOs are now written. These are the identifier and the
transmission type. The Inhibit Time and the Event Time are only written at this stage if they have been config-
ured to have values other than zero.
If a node answers an SDO download of the PDO parameters with an SDO abort protocol, then the correspond-
ing entry is then read (SDO upload) and compared with the value to be written. If they are in agreement, the
process continues. In this way it is possible for read-only PDO parameters to be tolerated, provided they agree
with the configured values.
The next step is only taken if the download, or the comparison with existing values, is successful. Otherwise the
process is aborted, and the node enters state 0x04 or 0x05, and the appropriate error message is displayed in
the dialog box.
5. Set Guarding/Heartbeat
If a value other than zero has been configured for the Guard Time, the appropriate parameters are now written
to the nodes. Because the heartbeat process generates less bus loading than guarding, an attempt is first ma-
de to start this form of node monitoring on the CANopen nodes.
Heartbeat: The guard time is entered as the producer heartbeat time (0x1017) and the product of (guard time x
life time factor) is entered as the consumer heartbeat time (0x1016). The FC510x card then transmits cyclically