Omron C200HW-CORT21-V1, Operation Manual

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Communication
Section 1-3
14
1-3-4-1 Module Control Services
CANopen State machine
Every CANopen NMT Slave functions according to the state diagram shown
in the following figure. Note that this only depicts the CANopen functionality
of a device. The state transitions are controlled by either
•
a hardware reset,
•
NMT control services, or
•
device internal control services.
Initialisation state The initialisation state (the greyed box) is sub-divided into three sub-states:
•
Reset Application
The parameters of the Manufacturer Specific Area and/or Device Profile
Area are set to their power-on values. After setting the values, the device
autonomously enters the Reset Communication state.
•
Reset Communication
The parameters of the Communication Profile Area are set to their
power-on values. After this, the device enters the Initialise state.
•
Initialise
The basic device initialisation of CANopen is executed. If the previous
state was not ‘Reset Communication’, the objects are initialised with the
stored values. If the device does not support storage of parameters, the
objects are initialised with the default values according the Profile
specifications.
Boot-up object Before entering the Pre-Operational state, the standardised boot-up object is
transmitted. This object indicates to the network that the respective node has
completed its initialisation and will enter Pre-operational state.
State
transition Description
(1) Power-on or Hardware Reset
(2) Finished initialisation
(3),(7) NMT: Start_Remote_Node
(4),(6) NMT: Enter_Pre-operational_state
(5),(8) NMT: Stop_Remote_Node
(11),(12),(14) NMT: Reset_Node
(9),(10),(13) NMT: Reset_Communication
(15) Application Reset performed
(16) Communication Reset performed