SMAL CANlift
MAN SMAL I6 E 1.3.doc
Pag.8
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6 CANlift interface (DSP 417)
Lika devices are always slave units, they respect the “Application profile for lift
control”, and are defined as “Car position unit 1”.
For every omitted specify, refer to the documents “CiA Draft Standard 301” and
“CiA Draft Standard Proposal 417” available on www.can;cia.org.
6.1 EDS file
CANlift devices are supplied with EDS file
Lika_SMAL_DS417_V1.eds
(see
enclosed support or
www.lika.biz > PRODUCTS > LINECOD > SMAL
).
Install EDS file on CANopen® master device.
6.2 State machine
The CANlift device provide a state working, the device may be switched in
different state sending a specific NMT message.
The state diagram is show below:
(1)
Power on
(2)
State initialization finished, the 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 comm.”
Initialization
Pre;operational
Operational
Stopped
Boot;up message
(1)
(2)
(3)
(4)
(4)
(5)
(5)
(3)
(6)
(6)
(6)
