IL•1F CANopen DS301

3 Basics

 

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.

 

 

 

NMT service

Transition

Meaning

 

 

 

Start remote node

A

Transition to state "Operational"

(Start network node)

 

Start normal network mode with all network devices

 

 

 

Stop remote node

B

Transition to state "Stopped"

(Stop network node)

 

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

C

Transition to "Pre-Operational"

(Transition to "Pre-Opera-

 

All communication objects except for PDOs can be used.

tional")

 

The state "Pre-Operational" can be used for configuration by SDOs:

 

 

 

 

- PDO mapping

 

 

- Start of synchronization

 

 

- Start of connection monitoring

 

 

 

Reset node

D

Transition to state "Reset application"

(Reset node)

 

Load stored data of the device profiles and automatically transition to "Pre-

 

 

operational" via "Reset communication".

 

 

 

Reset communication

E

Transition to state "Reset communication"

(Reset communication

 

Load stored data of the communication profile and automatically switch to the

data)

 

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.

 

 

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.

0198441113586, V2.01, 11.2008

Fieldbus interface

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Schneider Electric DS301 manual Initialization, Persistent data memory, NMT service Transition Meaning