Temposonics
®
E-Series CANopen
Operation Manual
23
Network initialisation
When powering the sensor after a Network Management (NMT)
reset command (chapter 5.4) or after an internal reset, the sensor
automatically enters the NMT initialisation state. In this state the
sensor loads all parameters from the non-volatile memory into the
RAM. The sensor performs several test functions and configuration
tasks. In this state there is no communication with the sensor.
After finishing the NMT initialisation state the sensor automatically
enters the NMT pre-operational state. During this state transition the
CANopen sensor sends its boot-up message (Table 3).
COB ID
Rx/Tx DLC
DATA
D0
0x700 + Node-ID
Tx
1
0x00
Network Pre-Operational state
In the pre-operational state communication via SDOs (chapter 5.6) is
possible, while (PDO) communication is not allowed. Configuration of
PDOs and device parameters may be performed. Also the emergency
objects and error control service like the CANopen sensors “heartbeat
message” occur in this state. The node will be switched into the
operational state directly by sending a NMT “start remote node” (3)
(Fig. 16).
Network Operational State
In the operational state all communication objects – including PDO
handling – are active. Object dictionary access via SDO is possible.
Network Stopped State
By switching a device into the stopped state it is forced to stop the
communication, except node guarding and heartbeat, if active.
Table 3: Boot-up message