Chapter 5 Operating Instructions
Flexi Classic Gateways
38 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
CANopen Gateway
5.2.8 RxPDO1
Receive PDO (process data object) 1
CAN-ID DLC DATA
201..27F 1 DIG-OUT - - - - - - -
Mapping 6200.1 - - - - - - -
DIG-OUT
Digital outputs on the diagnostics module
- Unused
5.2.9 NMT Network Management
The NMT objects are used to start, stop or initialise CANopen devices. For this purpose a
device in the CANopen network must take over the role of the NMT master. All devices are
regarded as NMT slaves. NMT services are broadcast services, i.e. the slaves do not gene-
rate a reply.
For an NMT slave with address N:
CAN-ID DLC DATA
00h 2 OP N
For all NMT slaves:
CAN-ID DLC DATA
00h 2 OP 0
OP NMT Operation 80h = Change to “Pre-Operational”
01h = Change to “Operational”
02h = Change to “Prepare/Stopped”
81h = Change to “Reset Node”
82h = Change to “Reset Communication”
5.2.10 Pre-Operational
After booting an NMT slave automatically enters the “Pre-Operational” state. In this state,
communication is allowed with the SDO, but not with the PDO. The NMT slave can be
changed from another state to this state.
5.2.11 Operational
The “Operational” state is reached from the “Pre-Operational” state. In this state commu-
nication via PDO is possible and the CANopen slave reacts to SYNC.
TPDOs with the transmission mode 255 are sent once on the transition to the NMT status
“Operational”, so that the NMT master is informed of the current input configuration.
5.2.12 Prepared/Stopped
In this state, communication is not possible with SDO or PDO, there is also no reaction to
SYNC.
5.2.13 Reset node
This NMT service triggers a re-initialisation of the CANopen functionality in the NMT slave.
(process data object) 1
management for one NMT
slave with address N
management for all NMT
slaves
Note
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