Filter
Top Products
0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 47
Initialization An NMT slave automatically runs through an initialization phase after
the supply voltage is switched on (power on) to prepare it for CAN bus
operation. On completion of the initialization, the slave switches to the
state "Pre-operational" and sends a boot-up message. From now on, an
NMT master can control the operational behavior of an NMT slave in the
network via 5 NMT services, represented in the above illustration by the
letters A to E.
Persistent data memory When the supply voltage is switched on (power on), the device loads the
saved object data from the non-volatile EEPROM for persistent data to
the RAM.
NMT service Transition Meaning
Start remote node
(Start network node)
A Transition to state "Operational"
Start normal network mode with all network devices
Stop remote node
(Stop network node)
B Transition to state "Stopped"
Stops communication of the network device in the network. If connection mon-
itoring is active, it remains on. If the power stage is active (state "Operation
Enabled" or "QuickStop"), an error of error class 2 is triggered. The drive is
stopped and switched off.
Enter Pre-Operational
(Transition to "Pre-Opera-
tional")
C Transition to "Pre-Operational"
All communication objects except for PDOs can be used.
The state "Pre-Operational" can be used for configuration by SDOs:
- PDO mapping
- Start of synchronization
- Start of connection monitoring
Reset node
(Reset node)
D Transition to state "Reset application"
Load stored data of the device profiles and automatically transition to "Pre-
operational" via "Reset communication".
Reset communication
(Reset communication
data)
E Transition to state "Reset communication"
Load stored data of the communication profile and automatically switch to the
state "Pre-Operational.". If the power stage is active (state "Operation Ena-
bled" or "QuickStop"), an error of error class 2 is triggered. The drive is
stopped and switched off.