Siemens Simatic Operating Instructions Manual page 40

Functions
4.1 CANopen
PN/CAN LINK states
The PN/CAN LINK can take on the following states in "CANopen Slave" mode:
State
HW Init / Waiting
for S7
Initialization
Pre-Operational
Operational
Stopped
State transitions
State transitions in "CANopen Slave" mode:
Transition
1
2
3
4
5
6
7
8
9
38
Meaning
The state of the PN/CAN LINK during booting and when the PN/CAN LINK is not
yet completely configured by the S7 controller.
Note: This is not an NMT state defined in CANopen.
Initialization state The entries made by the CANopen Manager in the "Communi-
cation parameters" are reset to factory settings. All parameters configured in the
HSP are reset to the values set in the HSP. Communication is reset as well.
CANopen distinguishes between substates:
"Reset Application": The OD entries that are not 1xxxh are reset. For PN/CAN
•
LINK these are the process data exchanged with the S7 controller.
"Reset Communication": The OD entries of the "Communication Profile Area"
•
(OD 1xxxh) are reset and thus the CANopen communication.
In this state the CANopen Manager can configure the slaves and synchronize
them with SYNC. Except for PDOs all other types of communication are active
(e.g.: SYNC, SDO, Heartbeat)
Normal operation, all types of communication are active
Only heartbeat / node guarding are active but device can still be controlled via
NMT, "application OFF state"
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 config-
ured" 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 communica-
tion error when OD 1029h 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 communica-
tion error when OD 1029h was configured accordingly.
Triggered by an NMT command from the CANopen Manager.
Triggered by an NMT command from the CANopen Manager or by a communica-
tion error when OD 1029h was configured accordingly.
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB