Transitions between the individual operating statuses
Figure 10: Transitions between the operating statuses
Table 23: Transitions between the operating statuses
Übergang
Description
1
After power-up the encoder enters the Initialization status.
2
After initialization the encoder automatically switches to the Preoperational
status.
3 und 8
The encoder switches to the Operational status with the Start Remote Node
command.
4 und 7
The encoder switches back to the Preoperational status with the Enter
Preoperational State command.
5 und 6
The encoder switches to the Stopped status with the Stop Remote Node
command.
9, 10 und 11
The encoder switches to the Initialization status with the Reset Node com‐
mand.
12, 13 und 14
The encoder switches to the Initialization status with the Reset Communica‐
tion command.
5.5.3
Boot-up message
To signal that a device is ready for operation after switching on, a socalled bootup
message is sent. This message uses the ID from the NMT Error Control protocol and is
permanently linked to the device address set (700h + node ID).
5.5.4
Node Guarding and Heartbeat
To signal that a device is ready for operation after switching on, a socalled bootup
message is sent. This message uses the ID from the NMT Error Control protocol and is
permanently linked to the device address set (700h + node ID).
INTEGRATION IN CANOPEN
5
8016869/1EF3/2021-12-08 | SICK
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
27
Subject to change without notice
