Beckhoff CX-B510 Series, Руководство пользователя

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CANopen system overview
CXxxxx-M510/B510 11 Version: 1.0
State transitions
State transitions are executed with a CAN message. The CAN messages have a very simple structure:
CAN identifier 0, with two bytes of data content.
• The first data byte contains the command specifier (cs),
• the second data byte contains the node address (node ID); node address 0 addresses all nodes
(broadcast).
11 bit identifier 2 byte of user data
0x00 cs Node ID
The following table provides an overview of all possible state transitions and the corresponding command
specifiers (cs). The diagram shown above, which illustrates the states, is part of the overview:
State transition Command Specifier cs Explanation
(1) -- The initialization state is reached
automatically at power-up
(2) -- After initialization the pre-
operational state is reached
automatically - this involves
sending the boot-up message.
(3), (6) cs = 1 = 0x01 Start_Remote_Node.
Starts the device, enables outputs
and starts the PDO transfer.
(4), (7) cs = 128 = 0x80 Enter_Pre-Operational.
Stops the PDO transmission, SDO
still active.
(5), (8) cs = 2 = 0x02 Stop_Remote_Node.
Outputs go into the fault state,
SDO and PDO switched off.
(9) cs = 129 = 0x81 Reset_Node.
Carries out a reset. All objects are
reset to their power-on defaults.
(10) cs = 130 = 0x82 Reset_Communication.
Carries out a reset of the
communication functions. Objects
0x1000 - 0x1FFF are reset to their
power-on defaults.
Sample 1
The following telegram puts all the modules in the network into the error state (outputs in a safe state):
11 bit identifier 2 byte of user data
0x00 0x02 0x00
Sample 2
The following telegram is used to reset (restart) node 17:
11 bit identifier 2 byte of user data
0x00 0x81 0x11