Table of Contents
Advertisement
To be able to perform a process data exchange using PDOs, the module has to
be brought into the OPERATIONAL status by means of the Service Start Re-
mote Node. If TxPDOs are configured with the transmission type 254 or 255,
the PDOs are sent with each change to the OPERATIONAL status. These
PDOs are sent independent of an input data change.
Should an error occur, the module changes to the PREPARED status. In this
status any communication via SDOs and PDOs is impossible. The module
only reacts to the NMT services:
• Start Remote Node, change to the OPERATIONAL status, data transmis-
• Enter Pre-Operational, change to the PRE-OPERATIONAL status, data
• Reset Node and
• Reset Communication, change to the INITIALISATION status, the settings
NMT Master
request
Fig. 7-7: Design of NMT Services, Start Remote Node
Node ID = 0: All existing nodes change to the OPERATIONAL status.
NMT Master
request
Fig. 7-8: Design of NMT Services, Stop Remote Node
Node ID = 0: All existing nodes change to the PREPARED status.
Fieldbus Dependent I/O Module
CANopen
sion via SDOs and PDOs is possible.
transmission via SDOs is possible.
saved last, or - if nothing different has been saved - the factory default set-
tings are loaded. Following this, the module changes to the PRE-
OPERATIONAL status.
Start Remote Node
0
1
CS
Node
= 1
ID
COB-ID = 0
Stop Remote Node
0
1
CS
Node
= 2
ID
COB-ID = 0
CANopen
• 49
NMT Slave(s)
indication(s)
g012415x
NMT Slave(s)
indication(s)
g012416x
Advertisement
Table of Contents
