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v10.0.1.x for R2026a
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IO644 - Network Status v2

IO644 - Network Status v2 — Outputs the module's NMT state, allows the state to be changed, and provides extended diagnostics.

Library

Simulink Real-Time - Speedgoat

Description

The Network Status block outputs the module's CANopen NMT (Network Management) state. The states are:

  • Stopped

  • Initialization

  • Pre-operational

  • Operational

State changes are usually commanded by the remote master node. However, the block can also set the state in a local manner. This allows the user to overwrite remote state commands or set the node to Operational state if no external node sends the required NMT messages. Furthermore, the block outputs internal stack information and signs of life of other CANopen nodes in the network.

Ports

Outputs
State,

Outputs the module's current NMT state. The values are:

StateDescription
0Unknown
1Operational
2Stop
128Pre-operational
129Reset node (Initialization)
130Reset communication (Initialization)

Data type: uint32 scalar

ExtStateCmd

Outputs the state commanded by external nodes (master node).

Data type: uint32 scalar

ExtDiag

Provides further information about internal states and errors.

Data type: uint32 vector

ElementDescription
1Flags. See table below
2Number of bus-off events
3Number of passive event errors
4Number of receive overflows
5Number of transmit overflows
6Number of errors and warnings
7Number of timeouts
8Number of lost indications
9Number of diagnostic entries
10Last diagnostic entry. For the list of status codes, please refer to Status Codes for Protocols Supported with the IO64x/IO75x Modules.
11..133 bytes of additional details for diagnostic entry

The Flags element is encoded as follows:

BitDescription
0CAN is initialized
1CAN is activated
2CAN is in error passive state
3CAN is in bus-off state
4Receive overflow detected
5Transmit overflow detected
6Indication has been lost
8Watchdog error detected
9Error issued
12Parameterization error or severe run time error
13Module not ready
14Tx timeout detected
16Warning issued
Monitoring

Outputs the heartbeat and guarding information for the nodes in the network for which monitoring is activated in the Setup block. The signal is a vector of 128 elements. Elements 2 to 128 contain heartbeat information for the nodes 1 to 127. Element 1 contains the life-guarding information about the master. The values are:

ValueDescription
0No information available
1Heartbeat Start
2Heartbeat Error
3Heartbeat Stop
4Lifeguard Start
5Lifeguard Error
6Lifeguard Stop

Data Type: numeric vector

Inputs
StateCtrl

The NMT state the module should reach. See the State output port for possible values. The block tries to set the state only if the input changes. If a state cannot be reached, the block will not try again. Instead, the user must provoke a signal change on the input port.

Parameters

Module ID

This ID defines the link to the corresponding Setup block

State Control

If selected, the block shows the StateCtrl input port. Otherwise, the port is hidden.

External State Command

If selected, the block shows the ExtStateCmd output port. Otherwise, the port is hidden.

Extended Diagnostics

If selected, the block shows the ExtDiag output port. Otherwise, the port is hidden.

Monitoring

If selected, the block shows the Monitoring output port. Otherwise, the port is hidden.

Sample Time

Defines the base sample time at which this driver block gets its sample hit. This parameter can also be set to -1 for inherited sample time. The units are in seconds.

[Caution]Caution

All blocks that interface with the same I/O module must have identical sample times.