SICK TMM61 Series, Operating Instructions Manual

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9.4.1 CANopen state machine
Like every CANopen slave, the inclination sensor features what is known as a CANopen
state machine. The following statuses can be identified:
Table 23: Status of the CANopen state machine
Status Description
Initializing Initialization commences. Both the device application and device
communication are initialized. After this, the node automatically
switches to Pre-Operational status.
Pre-Operational The inclination sensor is ready for configuration; acyclic communi‐
cation can take place via SDO. However, the inclination sensor is
not yet able to commence PDO communication and is not sending
out any emergency messages.
Operational In this status, the inclination sensor is fully ready for operation and
can transmit messages autonomously (PDOs, emergency mes‐
sages).
Stopped In this status, the inclination sensor is not actively communicating
(although communication is still being actively monitored via node
guarding).
9.4.2 Network management services
NMT services are used to switch between the individual statuses of the CANopen state
machine. The NMT telegrams for device monitoring use the COB ID 0 and thus have the
highest priority.
Table 24: 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 25: Meaning of byte 0
Byte 0, CCD Parameter
01h Start Remote Node
Sets the inclination sensor to Operational status.
02h Stop Remote Node
Sets the inclination sensor to Stopped status and stops it communicating
(although communication is still being actively monitored via node guard‐
ing).
80h Enter Pre-Operational
Sets the inclination sensor to Pre-Operational status. All communication
channels except the PDOs can be used.
81h Reset Node
Resets the values of the profile parameters to the default values. After this,
the inclination sensor switches to Reset Communication status.
82h Reset Communication
Sets the inclination sensor to Reset Communication status. After this, the
inclination sensor switches to Initialization status.
CANOPEN INTERFACE
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 25 8019054/14IT/2019-06-27 | SICK
Subject to change without notice