ABB FCAN-01, User Manual

Page: 111 / 176

Communication protocol 111
In addition, there are Special Function Objects and Network
Management Objects.

FCAN-01 boot-up sequence and
Network Management (NMT)
The adapter module supports the boot-up sequence of a “Minimum
Capability Device”, as defined by the CANopen Communication
Profile. The boot-up state diagram of the adapter module is shown
below.
The NMT (Network Management) message is mapped to a single
CAN frame with data length of 2 bytes. Its identifier is 0. The first
byte contains the command specifier and the second byte contains
the Node ID of the device, which must perform the command. The
NMT message transmitted by the NMT master forces the nodes to
transit to another NMT state. The CANopen state machine
specifies the following states: Initialization, Pre-Operational,
Operational and Stopped. After power-on, each CANopen device
Initialization
Reset application
(13)
(10)
(11)
(14)
Power on
(12)
(6) (8)
(8)
(7)
(7)
(6)
Reset communication
Init
Pre-operational
Stopped
Operational
(6) Start_Remote_Node indication
(7) Stop_Remote_Node indication
(8) Enter_Pre-Operational_State indication
(10) Reset_Node indication
(11) Reset_Communication indication
(12) After Initialization is finished
(13) (14) After Reset is performed