AMT58x-CB CANopen®
15
6.2.1
Initialization
state
This is the first state the CANopen® device enters after power is
turned on or after a hardware reset. As soon as the basic CANopen®
device initialization is carried out, device reads and loads the
parameters saved on EPROM, sends a boot-up message and then
switches automatically to
Pre-operational
state.
6.2.2
Pre-operational
state
In this state communication between master and slave is possible
using SDO messages. They allow working parameters to be set.
Slave cannot send PDO messages.
To switch slave device to
Operational
state master must send a Start
remote node command using a NMT message.
6.2.3
Operational
state
In this state slave device is active and all communication objects are
available. Slave device can use the parameters available in the
“Object dictionary” and is allowed to send process data using PDO
messages. “Object dictionary” can be accessed using SDO
messages. To switch slave device to
Pre-operational
state master
must send an Enter pre-operational command using a NMT
message.
6.2.4
Stopped
state
In this state slave device is forced to interrupt communication with
the Master (except node guarding, if active).
Communication using PDO and SDO messages is not allowed.
To switch slave device to
Pre-operational
or
Operational
state master
must send the specific commands Enter pre-operational or Start
remote node using a NMT message.
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