Infranor XtrapulsGem User Manual

45
X
trapulsPac - User Guide
Chapter 3 – Reference
3.1.1.8 - Node Guarding
Network error behaviour
Index 0x205E
Name Network Error Behaviour
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value 0
This object defines the drive behaviour when a Node guarding error occurs.
V
alue Description
0 No Operation
1 Drive Error
2 Goes into Bus Stop state
3.1.2 - NETWORK INITIALISATION
3.1.2.1 - NMT State Machine
The NMT state machine defines the communication status.
(1) At Power on, the initialisation state is automatically entered
(2) Once the Initialisation over, Pre-Operational is automatically entered
(3), (6) Start_Remote_Node indication
(4), (7) Enter_Pre-Operational_State indication
(5), (8) Stop_Remote_Node indication
(9), (10), (11) Reset_Node indication
(12), (13), (14) Reset_Communication indication
Minimum Boot-Up consists of one CAN telegram: a broadcast Start_Remote_Note message.
Initialisation
Pre-operational
NMT, SDO, Sync, Emcy
Operational
NMT, SDO, Sync, Emcy, PDO
Stop
NMT
(1)
(2)
(3)
(4)
(5)
(7)
(11)
(10)
(9)
(6)
(8)
(14)
(13)
(12)
Power On

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English