CANopen
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Network Communication
WAGO-I/O-SYSTEM 750
CANopen
4.3.2 Communication states of a CANopen fieldbus coupler/controller
4.3.2.1 CANopen state diagram
The status diagram described in the following figure shows the individual
communication states and possible transitions related to the CAN communica-
tion.
Power On
Initialization
Pre-Operational
Operational
Stopped
Error
Start
Remote
Node
Start Remote Node
Stop Remote Node
Stop Remote Node
Enter
Pre-Operational
Enter Pre-Operational
Reset Node
Reset
Communication
Initialisation finished
Fig. 4-11: State diagram of the fieldbus coupler/controller
g012422x
4.3.2.2 INITIALIZATION
Following a power On or a reset (module ID unequal 0), the bus coupler is
automatically in the INITIALIZATION status. In this status, the bus coupler
performs a self-check to check all functions of its components and the com-
munication interface. The process image is created on the basis of the con-
nected modules and a possibly stored configuration, and the object directory
initialized. If no errors are detected during the initialization phase the bus cou-
pler automatically changes to the pre-operational status. If errors were found,
a change to the STOP status takes place.
During initialization, the I/O-LED starts blinking orange and changes to red at
its higher frequency. If initialization and the change to the pre-operational
status have been successfully completed, the I/O LED is lit green and the
RUN LED blinks. If errors have occurred (i.e. no end module connected) the
I/O LED indicates the error type by a red blinking sequence (see LED status
display). In this case, the STOP LED is lit red.
