Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
Chapter 6
6. CANopen Module Specification
6.1 NMT State Machine
The function of the Anybus X-gateway CANopen can be described as a state machine with four states.
The module changes states upon reception of a request from an NMT object, a hardware reset or Mod-
ule Control Services locally initiated by application events.
State
Description
Initialization
When the power is switched on, the module starts initializing.
The parameters are set to the so called power-on values, which are the default values or
the latest stored values. If parameter values are stored from a previous configuration, these
are used. If not, or if a restore_default command is issued, the parameters are reset to the
default values according to the communication and device profile specifications.
Pre-operational
Once initialized, the module automatically enters the pre-operational state. The Anybus X-
gateway CANopen can be configured, but no I/O data can be exchanged.
Operational
In the operational state all communication objects are active. I/O data is communicated
according to the configuration made.
Stopped
All communication is stopped, except node guarding and heartbeat, if active. From this
state any transition to another state is possible, depending on if a restart, reconfiguration or
reset of the module is wanted.
Initialization
Pre-operational
Operational
Stopped
Power on
