Siko MSA501, User Manual

Page: 12 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 12 of 51
5.2 Node control
5.2.1 Network management (NMT) services
The master configures, manages and monitors network nodes via the NMT service. The device
is always in one of the four communication states “INITIALISATION”, “PRE-OPERATIONAL”,
“OPERATIONAL” or “STOPPED” (see
Fig.. 5)
Power on oder Software Reset
Initialisation
CAN-Kommunikation
BootUp Message
1
2
2
3
3
4
4
4
1
Re-Initialisierung
CAN-Karte
5
5
5
Init
Fig.. 5: NMT Status diagram
5.2.1.1 NMT communication states
NMT Status INITIALISATION
The device is not involved in the events on the bus in this state. All hardware and software
components are initialized. This state is attained after switching on the device or after receipt
of the command code 81h (“Reset node”) of the own or global addresses. Following receipt of
the command code 82h (“Reset Communication”), the display will enter the initialization
stage as well. But only hardware and software associated with CAN communication will be
reinitialized. The device signals automatically the completion of initialization by sending a
boot-up message. As soon as the boot-up message was sent successfully, the device will enter
the “PRE-OPERATIONAL” status.
NMT Status PRE-OPERATIONAL
Parameterization data (SDO) can be exchanged in the pre-operational mode. However, no
process data (PDOs) is transferred.
NMT Status OPERATIONAL
The exchange of process data is enabled as well. However, COB-ID and Transmit PDO mapping
parameters can no longer be changed in this condition.