Festo EMCA-EC-67 CO Series, Описание

Страница: 349 / 416

D CANopen communication
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 349
All status transitions of the initialisation are performed automatically by the EMCA, e.g. because the
initialisation is internally completed. Depending on the NMT status, certain communication objects
cannot be used. The EMCA can, for example, send PDOs only in the NMT status “Operational”.
NMT-Status Description PDO SDO/
SYNC/
EMCY
NMT
Initialising Status after “Power ON” or “reset node”
Reaction: Resetting of the CAN-bus node, sending of
the bootup message
– – –
Reset Application No communication. All CAN objects are reset to the
reset value (application parameter set).
– – –
Reset
communication
No communication. The CAN controller is newly
initialised.
– – –
Pre-operational Communication via SDOs possible. PDOs not active. – X 7F
h
Operational Communication via SDOs possible. All PDOs active. X X 05
h
Stopped No communication except for Node guarding – – 04
h
Tab. D.29 NMT-State Machine
NMT mesages must not be sent as a data bundle (Burst) one immediately after another!
At least twice the internal cycle time must lie between 2 consecutive NMT messages on
the same node (broadcast or addressed), so the EMCA can process the NMT messages
correctly.
The duration for initialisation can be in the area of one second.
After initialisation, a new boot-up message is sent by the EMCA and only then is the EMCA
ready to receive new commands again.