Lika AM58K 13/4096CB Series, Руководство пользователя, Страница: 23 / 56

AM58K CANopen®
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.
MAN AM58K CB E 1.1.odt 23 6 - CANopen® interface