CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 3: Device Control, Configuration, and Status
NETWORK STATUS WORD INDEX 0X21B4
Type Access Units Range Map PDO Memory
Integer 16 RO - - EVENT -
Description
Network status word. Bit mapped as follows:
CANopen
Bits Meaning
0-1 CANopen node status. This field will take one of the following values:
Value Status
0 The CANopen interface is disabled.
1 Stopped mode.
2 Preoperational mode.
3 Operational mode.
4 Set if the CANopen SYNC message is missing.
5 Set on a CANopen guard error.
8 Set if the CAN port is in 'bus off' state.
9 Set if the CAN port is in 'transmit error passive' state.
10 Set if the CAN port is in 'receive error passive' state.
11 Set if the CAN port is in 'transmit warning' state.
12 Set if the CAN port is in 'receive warning' state.
DeviceNet
Bit Meaning
0 Set if duplicate MAC ID check failed.
1 Set if device is online.
2 Set if at least one communication object timed out.
3 Set if at least one communication object has been established.
4-7 Reserved.
8-14 Same bit mapping as for CANopen.
15 Always set for DeviceNet.
MACRO
Bit Meaning
0 Set if the MACRO network is detected,
1 Set if the amplifier is being disabled by the MACRO master.
2 Set if the MACRO network has been broken (i.e. once detected but now gone).
3 Set on heartbeat error.
4-15 Reserved.
EtherCAT
Bit Meaning
0 Set if distributed clock is enabled (SYNC0 enabled and period set to a legal value).
1 Set if distributed clock is locked.
2 If the distributed clock is locked, this bit identifies whether it is locked to the current loop period (0), or position
loop period (1).
3-15 Reserved
Copley Controls 61