Lenze CANopen Controller-based Automation - Manual (Page 94)

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