Chapter 13 CANopen Overview |C200 Series
13-4
Reset Communication
Initializing
Reset Application
Pre-Operation ABCD
Stopped AB
Operation ABCD
(1)
(15)
(16)
(2)F
(14)
(13)
(12)
(3) (4)
(11)
(10)
(9)
(7)
(5)
(6)
(8)
(1) After power is applied, it is auto in initialization state
(2) Enter pre-operational state automatically
(3) (6) Start remote node
(4) (7) Enter pre-operational state
(5) (8) Stop remote node
(9) (10) (11) Reset node
(12) (13) (14) Reset communication
(15) Enter reset application state automatically
(16) Enter reset communication state automatically
A: NMT
B: Node Guard
C: SDO
D: Emergency
E: PDO
F: Boot-up
Initializing Pre-Operational Operational Stopped
PDO ○
SDO ○ ○
SYNC ○ ○
Time Stamp ○ ○
EMCY ○ ○
Boot-up ○
NMT ○ ○ ○
NMT Protocol is shown as follows:
CS
Value Definition
1
Start
2
Stop
128
Enter Pre-Operational
129
Reset Node
NMT Master
Request
request
CS Node-ID
COB-ID=0
Start Remote Node
NMT Slave(s)
Indication
byte 0 byte 1
Indication
Indication
Indication(s)
130
Reset Communication
Call 1(800)985-6929 for Sales
Call 1(800)985-6929 for Sales
To Next Page
Loading...
