Canopen Module Specification; Nmt State Machine - HMS Anybus X-gateway CANopen Series User Manual

6. CANopen Module Specification

6.1 NMT State Machine

The function of the Anybus X-gateway CANopen can be described as a state machine with four states.
State
Initialization
Pre-operational
Operational
Stopped
The module changes states upon reception of a request from an NMT object, a hardware reset or Mod-
ule Control Services locally initiated by application events.
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
Power on
Initialization
Pre-operational
Operational
Description
When the power is switched on, the module starts initializing.
The parameters are set to the so called power-on values, which are the default values or
the latest stored values. If parameter values are stored from a previous configuration, these
are used. If not, or if a restore_default command is issued, the parameters are reset to the
default values according to the communication and device profile specifications.
Once initialized, the module automatically enters the pre-operational state. The Anybus X-
gateway CANopen can be configured, but no I/O data can be exchanged.
In the operational state all communication objects are active. I/O data is communicated
according to the configuration made.
All communication is stopped, except node guarding and heartbeat, if active. From this
state any transition to another state is possible, depending on if a restart, reconfiguration or
reset of the module is wanted.
Chapter 6
Stopped
Doc.Id. SCM-1200-080