Appendix
Communication with MotionBus/system bus (CAN)
Communication phases of the CAN network (NMT)
445
EDBCSXS064 EN 4.0
State transitions
(3)
(11)
(10)
(9)
(8)
(6)
(7)
(5)
(4)
(2)
(1)
(13)
(12)
(14)
Initialisation
Pre-Operational
Stopped
Operational
E82ZAFU004
Fig. 13−2
State transitions in the CAN network (NMT)
State
transition
Command
(hex)
Network status after
change
Effect on process or parameter data after state change
(1)
−
Initialisation
When the mains is switched on, the initialisation is
started automatically.
During the initialisation the controller is not involved in
the data exchange.
After the initialisation is completed, the node changes
automatically to the "Pre−Operational" status.
(2)
−
Pre−operational
In this phase the master decides how the controllers take
part in the communication.
From here, the states are changed over by the master for the entire network. A target address included in the
command specifies the receiver/s.
(3), (6)
01xx
Operational
Network management telegrams, sync, emergency,
process data (PDO) and parameter data (SDO) are active
(corresponds to "Start Remote Node")
Optional:
In case of change, event−controlled and time−controlled
process data (PDO) are sent once.
(4), (7)
80 xx
Pre−operational
Network management telegrams, sync, emergency, and
parameter data (SDO) are active (corresponds to "Enter
Pre−Operational State")
(5), (8)
02 xx
Stopped
Only network management telegrams can be received.
(9)
81 xx
Initialisation
Initialisation of all parameters in the CAN fieldbus
module with the values stored (corresponds to "Reset
Node")
(10)
(11)
(12)
82 xx
Initialisation of communication−relevant parameters
(CiA DS 301) in the CAN fieldbus module with the values
stored (corresponds to "Reset Communication")
(13)
(14)
yy = 00
In case of this assignment, the telegram addresses all devices connected. The
state of all devices can be changed at the same time.
yy = node ID
If a node address is given, only the state of the device with the corresponding
address will be changed.
