Status
Description
Pre-Operational
The encoder is ready for configuration, acyclic communication can take
place via SDO. However, the encoder is not yet able to participate in PDO
communication and also does not send any emergency messages.
Operational
In this status the encoder is fully operational and can transmit messages
independently (PDOs, emergency messages).
Stopped
In this status the encoder is disabled for communication (active connection
monitoring via node guarding remains active).
5.5.2
Network Management Services
The specific status of the CANopen state machine is changed via the NMT services. The
NMT telegrams for device control use the COB-ID 0 and are given the highest priority.
Table 21: Format of the NMT telegram
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
00h
CCD
Node ID
00h
00h
00h
00h
00h
00h
Table 22: Meaning of byte 0
Byte 0, CCD
Parameter
01h
Start Remote Node
Places the encoder in the Operational status.
02h
Stop Remote Node
Places the encoder in the Stopped status and stops its communication
(active connection monitoring via node guarding remains active).
80h
Enter Pre-Operational
Places the encoder in the Preoperational status. All communication chan‐
nels except the PDOs can be used.
81h
Reset Node
Resets the value for the profile parameters to the default value. Then the
encoder changes to the Reset Communication status.
82h
Reset Communication
Places the encoder in the Reset Communication status. Then the encoder
changes to the Initialization status.
5
INTEGRATION IN CANOPEN
26
O P E R A T I N G I N S T R U C T I O N S | AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox
8016869/1EF3/2021-12-08 | SICK
Subject to change without notice