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CANopen Network Interface
Active CANopen | The crosses in the table below indicate which CANopen objects are active for which | ||||
Objects | states of the state machine: |
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depending on |
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| Initialisation | Operational | Stopped | ||
State Machine |
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PDO object: |
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| SDO object: |
| X | X |
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| Emergency |
| X | X |
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| X |
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| NMT |
| X | X | X |
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"Reset
Application"
"Reset
Communication"
"Init"
The device goes into the "Reset Application" state:
after the device starts up or,
by "RESET NODE" (NMT service,Network Management Telegram).
In this state, the device profile is initialized, and all the device profile information is reset to default values. When initialization is complete, the device automatically goes into the state "Reset Communication".
The device goes into the "Reset Communication" state:
after the "Reset Application" state,
by "RESET COMMUNICATION" (NMT service).
In this state, all the parameters (standard value, depending on the device configuration) of the supported communication objects (1000H - 1FFFH) are saved in the object directory. The device then automatically goes into the "Init" state.
The device goes into "Init" mode after being in the "Reset Communication" state.
This state enables you to:
define the required communication objects (SDO, PDO, Sync, Emergency), install the corresponding CAL services
configure the
Initialization of the device is complete and the device automatically goes into the
54 | 1606218 02 08/2006 |