Omron C200HW-CORT21-V1, Руководство по эксплуатации

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Control and Status area
Section 4-3
64
IR n+3.00,
IR n+3.01 CANopen state
These two bits indicate the CANopen state of the C200HW-
CORT21-V1.
IR n+3.01 IR n+3.00 CANopen state
0 0
Not active.
CANopen is not active when:
•
Initialisation is not finished yet.
•
Unit has gone 'Bus Off' due to non-
recoverable errors detected on the
CANopen network.
•
IR n.00 is not set.
0 1
Pre-Operational
This state is entered autonomously after
initialisation or after Bus Off recovery, and
after receiving the NMT
command
'Enter_Pre-Operational_State’.
The Unit is accessible via SDOs to allow
configuration.
1 0 Operational
This state is entered after receiving
the NMT command ‘Start_Remote_Node’.
The Unit is fully operational and can be
accessed via SDOs and PDOs.
1 1 Stopped
This state is entered after receiving the
NMT command ‘Stop_Remote_Node’
In this state all data communication (via
SDOs as well as PDOs) is disabled.
Refer to section 1-3-4-1 for more details about the CANopen
state machine.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
IR n+5
Emergency trigger
Error count
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
IR n+6
Application Object 2100h, 01h
Application Object 2100h, 02h
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
IR n+7
Application Object 2100h, 03h
Application Object 2100h, 04h