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During booting in the pre-operational mode, the device reports the bootUP
message "0x700+
" to the CAN bus.
Operational
In the operational state all communication services are carried out. The
operational state is used to exchange the process data while in operation.
Stopped
In the stopped state only
messages (network management) are possible.
This allows almost complete separation of redundant or faulty sensors from the
bus.
The master or network manager can request the sensor via NMT messages to
change the state accordingly.
9.1.4 Use of 32 bit data types
CANopen defines data types with a maximum size of 64 bits (8 bytes). By means
of the data type, the user data of ID tags is transmitted efficiently via the
interface. The data type is also used for the default setting of the device and the
file.
However, some controllers can only process data types with a maximum width of
32 bits (4 bytes). In order to support all types of controllers, the device offers
alternative data objects whose data types are restricted to max. 32 bits. These
data objects are marked by the addition “32 bits” in these instructions. Additionally,
an EDS file is supplied for use of the data types that is read by the controller
software.
By default, the device uses 64-bit data types (e.g. for the preconfigured
The setting must be adapted to the use of 32-bit data types. The setting can be
changed via the controller software, by reading the corresponding EDS file.
9.1.5 Communication types of the process data object (PDO)
can be checked at any time by transmitting a remote transmission
request telegram (RTR). Otherwise the TPDOs are sent automatically as soon as
their value changes (event-driven).
