640
9
9 Communication9.7.4 CANopen Conguration
Value State
0 Initializing
4 Stopped
5 Operational
127 Pre-operational
255 Ofine
• If no slave station exists, the register will not be updated. For example, if station 3 does not exist, data on D7803
will not be updated.
• To enable this function, you need to congure heartbeat or node protection for the slave station because the node
state is fed back by heartbeats or node protection frames.
⑥ Automatic Allocation Map Register
Automatic Allocation
: If this option is selected, the system will automatically assign the address of the
register for master-slave data exchange. If the option is not selected, you need to congure the head
address for data exchange (by conguring the head address of each PDO). The option is selected by
default.
Slaves receive the map registers start address
: Indicates the automatically assigned head address of data
sent by the master station (
Automatic Allocation
must be selected).
Slaves send the map registers start address
: Indicates the automatically assigned head address of data
received by the master station (
Automatic Allocation
must be selected).
b) Network state
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