Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
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sent to object 1011H is available in CANopen to reset to the original Power On
values (refer to Page 95 DS301 V4.02).
For a Reset Communication instruction, all of the communication objects
(1000H - 1FFFH) are reset to the state after power-up. The Reset
Communication instruction can only be executed if the object changes were
only saved in the RAM (P0014=0) and no "save" instruction was sent to object
1010H. As soon as changes were saved in the EEPROM, either due to the
settings of parameter P0014, or by writing into the object 1010H, it is no longer
possible to reset the Power On values. The Reset Communication instruction is
then acknowledged using an EMERGENCY message. The command "load"
sent to object 1011H is available in CANopen to reset to the original Power On
values (refer to Page 95 DS301 V4.02).
Properties in the various communication states
In the various communication states, nodes can only be accessed via CANopen
using specific communication services. Further, the nodes in the various states
only send specific telegrams. This is clearly shown in the following table.
Table 3-2 CANopen services which are available in the various states
INITIALIZING PRE-OPERATIONAL OPERATIONAL STOPPED
PDO X
SDO X X
Synchronization Object X X
Emergency Object X X
Boot-Up Object X
Network Management Object X X X
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