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

CANopen Module Specification

6 CANopen Module Specification
6.1

NMT State Machine

CANopen network management is modeled as a state machine with four states. The device can
change states due to requests from an NMT object, a hardware reset (power cycle), or a module
control message initiated by an application event.
Fig. 24 CANopen NMT state machine
Initialization
Pre-operational
Operational
Stopped
Anybus ® X-gateway ™ CANopen ® PROFINET
Power on
Initialization
Pre-operational
Operational
When power is applied (or on reset), the device will enter the Initialization state. All
parameters will be set to their latest stored values. If there is no stored value for a
parameter, the default value from the device profile is used. When initialization has
finished, the device will transit to the Pre-operational state.
The Pre-operational state is primarily used for configuration. It allows SDO, EMCY, SYNC
and NMT control messages to be transmitted, but not process data (PDOs). When the
device has entered the Pre-operational state it will send a boot-up message, indicating
that it is ready to transit to the Operational state. The device can also go back to
Initialization or to the Stopped state.
In the Operational state all supported communication objects are allowed. PDOs (I/O
data) will be communicated according to the active configuration. The device can transit
from the Operational state to any of the other states.
In this state all data communication is stopped. Only Heartbeat, Node Guarding, and
NMT control messages are possible. The device can transit from the Stopped state to
any of the other states.
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