Delta AH500 - Flowchart Representing the Action of a Canopen Master Station

AH500 Module Manual
15-22
15.4.5 Flowchart Representing the Action of a CANopen Master
Station
Powering
AH10COPM-5A
Whether the
module is initialized
successfully
No
Error code
A0F5/A0F7
Setting AH10COPM-5A
by HWCONFIG
Yes
Slave mode
Initiali zing the
slave station
AH10COPM-5A
Initiali zing the
master station
AH10COPM-5A
Maser mode
The slave station
AH10COPM-5A is
ready to operate.
AH10COPM-5A follows the NMT
command sent by a master station.
If AH10COPM-5A is operational, it
will exchange CANopen PDOs with
a CPU module.
The master station
AH10COPM-5A is
ready to operate.
Checking whether a
CANopen network is
created
Yes
Checking whether the
actual network is the
same as the network
created
Yes
Whether the PDOs
in all slave stations are set
successfully
Yes
Whether the automatic SDOs
in all slave stations are
set successfu lly
Yes
Whether the heartbeat
or node guarding in all slave
stations is set successfully
Yes
No
Error code
A0F1
No
Error code
A0F6/A0F8
No
Error code
A0E4
No
Error code
A0E3
No
Error code
A0E5
The master station
AH10COPM-5A and all
slave stations are ready
to operate. They do not
exchange data.
State of a CPU module
Yes
STOP
RUN
The master station AH10COPM-5A
and all slave stations are operational.
A CPU module exchanges CANopen
PDOs with AH10COPM-5A.
No