Siko AG06 - NMT Status OPERATIONAL; NMT Status STOPPED; Switching between Communication States; SYNC-Objekt

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 38 of 114
9.3.2.4 NMT Status 'OPERATIONAL'
Exchange of process and parameterization data is enabled.
Hint: TPDOs with the 254 transfer type are sent with the transition into the 'OPERATIONAL'
NMT status.
9.3.2.5 NMT Status 'STOPPED'
Exchange of all data is stopped with the exception of the heartbeat message (see chapter
9.3.10: Heartbeat protocol) and the node guarding protocol, if active (see chapter 9.3.11:
Node Guarding). Only NMT communication is enabled. Furthermore, the State Machine of the
actuator is set to the 'SWITCH ON DISABLED' state (see chapter 9.4: State Machine) and the
motor enabled.
9.3.2.6 Switching between communication states
The network master can switch between the communication states by sending the following
telegrams with the identifier '0'.
Status change
Data 1
Data 2
from
to
PRE-OPERATIONAL / STOPPED
OPERATIONAL (1)
01h
xx
OPERATIONAL / PRE-OPERATIONAL
STOPPED (2)
02h
xx
OPERATIONAL / STOPPED
PRE-OPERATIONAL (3)
80h
xx
OPERATIONAL / PRE-OPERATIONAL / STOPPED
INITIALISATION (4/5)
81h
xx
OPERATIONAL / PRE-OPERATIONAL / STOPPED
INITIALISATION * (4/5)
82h
xx
Table 16: Switching between communication state
* Cold start is triggered (Power on)
xx = 0  the telegram is intended for all devices on the bus
xx = device address  the telegram is only intended for the device with the respective
address.
9.3.3 SYNC-Objekt
CANopen enables the simultaneous query of all inputs and the simultaneous setting of all
outputs. The synchronization telegram (SYNC), a CAN message with high priority, which
contains no user data serves for this purpose.
The identifier of the Sync object can be set via object 1005
h
(see chapter 9.13.2: Description
of objects).