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Functions
5.1 CANopen
State transitions
State transitions in "CANopen Slave" mode:
Transition
1
2
3
4
5
6
7
8
9
10
11, 12, 13
58
Meaning / trigger
Takes place automatically if the PN/CAN LINK has been configured for the first time
since boot-up of the S7 controller
Takes place automatically.
Takes place automatically. A "Boot-up" message is sent.
No "real" transition because CANopen does not know "configured" / "not configured"
state.
But: During configuration by the CANopen Manager, the communication behavior of
the PN/CAN LINK changes, for example, when the manager has configured
"Heartbeat".
Triggered by an NMT command from the CANopen Manager.
Triggered by an NMT command from the CANopen Manager, by a communication
error when OD 0x1029 was configured accordingly or when the control bit sent by the
S7 controller in the cyclic data changes to "OFF".
Triggered by an NMT command from the CANopen Manager or by a communication
error when OD 0x1029 was configured accordingly.
Triggered by an NMT command from the CANopen Manager.
Triggered by an NMT command from the CANopen Manager or by a communication
error when OD 0x1029 was configured accordingly.
Triggered by an NMT command from the CANopen Manager.
Can be triggered by:
•
An NMT command from the CANopen Manager (depending on the command,
transition to "Reset Application" or "Reset Communication" substate)
•
The reset bit from the S7 controller (transition to "Reset Application" substate)
•
Reconfiguration by the S7 controller (transition to "Reset Application" substate)
Operating Instructions, 03/2022, A5E39895388-AC
SIMATIC PN/CAN LINK
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