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7.4 CANopen Telegrams
Following a Power On, the module is in the INITIALISATION status. In this
status, the object directory is created and the application objects assigned to
the PDOs. When successful, the module changes to the PRE-OPERATIONAL
status.
Fig. 7-3: State diagram
As soon as the module is in the PRE-OPERATIONAL status, the communica-
tion can be made via SDOs. This status allows the following settings via
SDOs:
• Setting the Guard-Time and the Life Time Factors.
• Setting the Communication parameter of the PDOs.
• Mapping of the PDOs.
• Saving the settings.
• Loading default settings.
• Register communication
An SDO is a CAL CMS object of the "Multiplexed Domain" type. With this
object access to each object directory entry is possible. Transmission requires
a certain protocol overhead containing the command specifier, index and sub-
index of the entry to be read / written.
Fieldbus Dependent I/O Module
CANopen
Power On
Reset
Communication
Initialization
Pre-Operational
Start
Remote
Node
Operational
Initialisation finished
Enter Pre-Operational
Stop Remote Node
Enter
Pre-Operational
Error
Start Remote Node
Stop Remote Node
CANopen
Reset Node
Prepared
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