Commissioning and configuration
62
MA 235
i
Leuze electronic
12.4
Starting the MA 235
i
in the CANopen system
During starting up, the gateway runs through different states which are explained in brief in
the following.
INIT
The MA 235
i
initializes itself. No direct communication between the master and MA 235
i
is
possible. The CANopen master will transfer the MA 235
i
step by step into the "operational"
state.
In the status change from "INIT" to "PREOP", the TwinCAT or master writes the so-called
CANopen address (=station address) to the respective register of the CANopen slave
controller (here: MA 235
i
). This CANopen address is typically specified in relation to the posi-
tion, i.e., the master's address is 1000, the first slave's address is 1001, etc. This is also
called the auto-increment method.
PRE-OPERATIONAL
The master and the MA 235
i
exchange application-specific initializations and device-
specific parameters. In the PRE-OPERATIONAL state, configuration is initially possible via
SDOs only.
SAFE-OPERATIONAL
The "Start Input Update" command puts the gateway into the "Safe-Operational" state. The
master produces output data, but input data are not considered. This means the MA 235
i
does not return output data (=PLC input data) in SAFEOP. The gateway does not process
input process data (=PLC output data). Mailbox communication via CoE services is possible.
OPERATIONAL
The "Start Output Update" command puts the gateway into the OPERATIONAL state. In
this state, the MA 235
i
supplies valid input data and the master valid output data. After the
MA 235
i
has detected the data received via the process data service, the state transition is
confirmed by the MA 235
i
. If the activation of the output data was not possible, the gateway
remains in the SAFE OPERATIONAL state and outputs an error message.
12.4.1
Device profile
CANopen describes the characteristics of participants in so-called profiles. However, a
device profile for gateways is not defined.
The MA 235
i
is designed as a slave participant and cannot take on master functionality.
