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State transitions
Below you will find a description of the state transitions in the "CANopen Manager" mode:
Transition
1
2
3
4
5
6, 7, 8
9, 10, 11, 12
SIMATIC PN/CAN LINK
Operating Instructions, 03/2022, A5E39895388-AC
Meaning / trigger
Takes place as soon as the PN/CAN LINK is configured by the S7 controller for the
first time after booting.
Takes place automatically. A "Boot-Up" message is sent because the PN/CAN LINK
changes to NMT state "Pre-Operational".
Takes place when all configured "mandatory" CANopen slaves are available and
have been booted successfully.
Takes place when the control bit in the cyclic data from the S7 controller is set to
"ON". With this transition all CANopen slaves that are completely booted are set
to "Operational" by NMT.
Takes place when the control bit in the cyclic data from the S7 controller is set to
"OFF". With this transition all CANopen slaves that are completely booted are set
to "Pre-Operational" by NMT.
Is triggered by a heartbeat / node-guarding error of a "mandatory" slave if
configured accordingly (NMT Master error behavior is "Stop the PN/CAN LINK and
all nodes").
With this transition all CANopen slaves are set to "Stopped" by NMT.
Triggered by:
•
A heartbeat / node-guarding error of a "mandatory" slave if configured
accordingly (NMT Master error behavior is "Restart of the PN/CAN LINK").
•
Reset bit contained in the cyclic data from the S7 controller
•
Reconfiguration by the S7 controller
•
Error during boot-up (except heartbeat/node-guarding errors)
Functions
5.1 CANopen
45
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