Appendix
Communication with MotionBus/system bus (CAN)
Communication phases of the CAN network (NMT)
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EDBCSXS064 EN 4.0
13.4.2 Communication phases of the CAN network (NMT)
Regarding communication, the controller knows the following statuses:
Status Description
"Initialisation" After the controller is switched on, the initialisation phase is run through.
During this phase, the controller is not involved in the data exchange on the
bus.
A part of the initialisation or the complete initialisation can be run through
again in every NMT status by transmitting different telegrams (see "state
transition"). Here, all parameters are written with their set values.
After completing the initialisation, the controller automatically adopts the
"Pre−Operational" status.
"Pre−Operational" The controller can receive parameter data.
The process data are ignored.
"Operational" The controller can receive parameter data and process data.
"Stopped" Only network management telegrams can be received.
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