CANopen NMT Event Trigger

This block creates a trigger that is called when selected NMT event message is received by the referenced CANopen instance.

Block ID

CANopen NMT Event Trigger

Library

motohawk_canopen_lib

Description

This block creates a trigger that is called when selected NMT event message is received by the referenced CANopen instance.

Possible NMT Events :

• NMT Reset Application on Command
• NMT Reset Application on Power up
• NMT Reset Communication on Command
• NMT Reset Communication on Power up
• NMT Enter Pre-operational
• NMT Enter Operational
• NMT Enter Stopped

Reset application/communication on power up triggers are called during power up. Reset application/communication on command triggers are called during run-time after receiving an NMT command message. Upon receiving an NMT command, the corresponding action is performed automatically (with exception of reset application event). In that case, the trigger execution informs the application that a reset application message has been received and resets the CANopen communication. In order to actually reset the module it is necessary to add reset logic. It should be enclosed in a function call subsystem connected to the reset application NMT trigger. The trigger can be used when the referenced CANopen application is an NMT master or an NMT slave.

Block Parameters

Parameter Field	Values	Comments/Description
CANopen Instance Reference	String	Name of referenced CANopen instance definition.
Trigger Name	String	Name of created trigger function. Parameter is optional, if no trigger name is provided a trigger name is generated automatically.
NMT Event	Drop down	NMT event on which trigger is called : NMT Reset Application on Command NMT Reset Application on Power up NMT Reset Communication on Command NMT Reset Communication on Power up NMT Enter Pre-operational NMT Enter Operational NMT Enter Stopped
Execution Order within Task	Numeric (Integer)	More than one trigger may be placed in a model that is driven by the same event. Use the execution order within task attribute to define the execution order of these triggers relative to one another. The triggers will execute from the lowest execution order within task value to the highest.
This trigger is inside another triggered subsystem	Checkbox	If the trigger is inside another triggered subsystem, this must be checked.
Trigger even when containing subsystem is disabled	Checkbox	If the trigger is inside another enabled subsystem, then execute this subsystem if that subsystem is enabled.