IF55 ROT CANopen®
(5)
NMT message:
Stop remote node
(6)
NMT message:
Reset node
or
Reset communication
command
6.2.1
Initialization
state
This is the first state the CANopen® device enters after the power is turned on
or after a hardware reset (
Reset node
command). As soon as the basic
CANopen® device initialization is carried out, the device reads and loads the
parameters saved on EPROM, sends a boot-up message and then switches
automatically to
Pre-operational
state.
6.2.2
Pre-operational
state
In this state the communication between the Master and the Slave is possible
using SDO messages. They allow working parameters to be set. The Slave cannot
send PDO messages. The state is signalled through the green LED (see on page
33).
To switch the Slave device to
Operational
state the Master must send a
Start
remote node
command using an NMT message (see on page 81).
6.2.3
Operational
state
In this state the Slave device is active and all communication objects are
available. The Slave device can use the parameters available in the “Object
dictionary” (see on page 46) and is allowed to send process data using PDO
messages. The “Object dictionary” can be accessed by using SDO messages. To
switch the Slave device back to the
Pre-operational
state the Master must send
an
Enter pre-operational
command using an NMT message (see on page 81).
6.2.4
Stopped
state
In this state the Slave device is forced to cut off the communication with the
Master (except the node guarding, if active).
The communication using PDO and SDO messages is not allowed.
To switch the Slave device to either the
Pre-operational
or the
Operational
state the Master must send the specific commands
Enter pre-operational
or
Start remote node
using an NMT message (see on page 81).
MAN IF55 ROT CB E 1.2.odt
6 - CANopen® interface (DS 406)
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