https://forge.codesys.com/forge/talk/CODESYS-V2/thread/364b18d510/2020-02-27T23:13:03.245000ZRecent posts to CANOpen Stack and configuration of nodes2020-02-27T23:13:03.245000Z2020-02-27T23:13:03.245000Zspfeifhttps://forge.codesys.com/u/spfeif/https://forge.codesys.comefeb7d6075a19697a2650576c5bb3ccb8aca306c

<div class="markdown_content"><p>I have noticed that nodes will not be sent configuration data if the following is true:</p> <ol> <li> <p>You have a check mark next to No Initialization in the Nodes PLC configuration.</p> </li> <li> <p>The particular OD refernce will not be configured if it doesn't differ from the defualt value of the eds file and create all SDO's is not checked.</p> </li> <li> <p>If a node does not send a bootup guard message that has 0 as the status, ie cobid = 701 byte0 = 00 (701 00) bootup message.</p> </li> <li> <p>If the CANOpen Master does not have a status = 3. Basically at boot up of the PLC.</p> </li> <li> <p>If a node responds to a SDO request to OD x1000 and the value is different from that found in the EDS file. </p> </li> </ol> <p>I have a CANOpen DS406 encoder that when first powered up sends an empty emergency message 81 then sends 701 7F to tell the PLC it is in pre-operational after an RTR nodeguard from the Master. Otherwise just an empty emergency message. Also this device is powered up at a different time then the main PLC. The next step by CoDeSys (because the node is pre-op) is to start the node by issuing an NMT Start Node message cobid = 0 byte0 = 01 byte1 = 01 (00 01 01). It never configures the encoder. But if I use my can dongle and send the command manually cobid = 701 byte0 = 00. Then CoDeSys configures the encoder using all the configured SDO's from the PLC configuration.</p> <p>Why is the configuration trigger in CoDeSys on the node state 00 = bootup and/or when the CANOpen Master status = 3 ? Can this be something that is configurable in the future through the PLC configuration?</p> <p>What do you think is the best method to get the encoder configured? I can manually monitor the change of node state (nStatus) from 7F (pre-op) to 5 (op) and then send a manual CANOpen message 701 00 or I can maybe try pCANOpenNode<span>[0]</span>.SetNodeStatus := 0;</p> <p>So really what I am asking is how to configure a node long after the PLC CANOpen master has already booted and this node doesn't send a bootup message 701 00 but instead the first guard report is 701 7F?</p></div>