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User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
7.5.
NMT state
CANopen devices are initialized, started, monitored, reset or stopped using NMT services. The NMT state of the
device can be set by applications such as PLC software. Table 15 shows the communication objects that exist in each
NMT state.
NMT State
PDO
SDO
SYNC
EMCY
Heartbeat Description
Pre-operational
✓
✓
✓
✓
7F
h
Configuration mode: PDOs do not exist. This is
the recommended mode for configuration of
PDOs.
Operational
✓
✓
✓
✓
✓
05
h
Take care with configuration in this mode, as
some objects are protected and may not be
changed in this mode.
Stopped
✓
04
h
All communication is forced to stop except the
heartbeat/node guarding.
Bootup
✓
00
h
Device is initialised with default power-on
values
Table 15
–
NMT states and communication objects
7.6.
Object Dictionary (device parameters)
The object dictionary is a collection of data items that influence the behaviour of the application objects, the
communication objects, and the state machine used on this device. Each object is addressed using a 16-bit index and
an 8-bit subindex.
Index Range
Object
Description
1000
h
~ 1FFF
h
Communication profile area
Parameters for communication such as SDO, PDO, NMT, etc.
2000
h
~ 5FFF
h
Manufacturer-specific profile area
Parameters for device-specific features such as function mode, etc.
6000
h
~ 9FFF
h
Application profile area
Parameters that are common for inclinometers.
Other
Reserved for factory use
Do not use
Table 16
–
Structure of object dictionary
All parameters in the object dictionary can be accessed with SDOs.
See also 8. CAN Object dictionary overview.