ACS CANopen Manual
Version 20110928
7 of 44
AC C E L E N S ( AC S ) C AN o p e n
2.1 Operating Modes
2.1.1 Mode: Preoperational
When the device is in this state, its configuration
can be modified. However, only SDOs can be
used to read or write device-related data.
The device goes into "Pre-Operational" state:
•
After the power up, or
•
On
receiving
the
"Enter
Pre-
Operational" NMT indication, if it was in
Operational state.
When configuration is complete, the device goes
into one of the following states on receiving the
corresponding indication:
•
"Stopped" on receiving the "Stop
Remote Node" NMT indication,
•
"Operational" on receiving the "Start
Remote Node" NMT indication.
To set a node to pre-operational mode, the master must send the following message:
Identifier
Byte 0
Byte 1
Description
0 h
80 h
00
NMT-PreOp, all nodes
0 h
80 h
NN
NMT-PreOp, NN
NN: node number
2.1.2 Mode: Start – Operational
The device goes into the "Operational" state if it
was in the "Pre-Operational" state on receiving
the "Start Remote Node" indication. When the
CANopen network is started using the "Node
start" NMT services in "Operational" state, all
device
functionalities
can
be
used.
Communication can use PDOs or SDOs.
NOTE:
Modifications to the configuration in
"Operational" mode may have unexpected
consequences and should therefore only be
made in "Pre-Operational" mode.
To put one or all nodes in the start operational state, the master has to send the following message:
Identifier
Byte 0
Byte 1
Description
0 h
01 h
00h
NMT-Start, all nodes
0 h
01 h
NN(in hex)
NMT-Start, NN
NN: node number
