Lika CANopen SFA-10000-CB, Руководство пользователя

Страница: 38 / 88

SFA-5000 • SFA-10000 CANopen®
(1) Power on
(2)
Initialization carried out, boot-up message is sent
automatically
(3) NMT message:
Start remote node
(4) NMT message:
Enter pre-operational
(5) NMT message:
Stop remote node
(6)
NMT message:
Reset node
or
Reset communication
6.2.1 Initialization state
This is the first state the CANopen® device enters after the power is turned on
or after a hardware reset (
Reset node
command). As soon as the basic
CANopen® device initialization is carried out, the 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 the communication between the Master and the Slave is possible
using SDO messages. They allow the working parameters to be set. The Slave
cannot send PDO messages. The state is signalled through the green LED (see on
page 34).
To switch the Slave device to the
Operational
state the Master must send a
Start remote node command using an NMT message (see on page 79).
6.2.3 Operational state
In this state the Slave device is operational and all communication objects are
available. The Slave device can use the parameters available in the “Object
dictionary” (see on page 43) and is allowed to send process data using PDO
messages. The “Object dictionary” can be accessed by using SDO messages. The
state is signalled through the green LED (see on page 34). To switch the Slave
device back to the
Pre-operational
state the Master must send an
Enter pre-
operational
command using an NMT message (see on page 79).
6.2.4 Stopped state
In this state the Slave device is forced to cut off the communication with the
Master (except the Node Guarding, if active). The communication using PDO and
SDO messages is not allowed. The state is signalled through the green LED (see
on page 34).
To switch the Slave device to either the
Pre-operational
or
Operational
state
the Master must send the specific commands
Enter pre-operational
or
Start
remote node using an NMT message (see on page 79).
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 38 of 88