Communication via CAN bus
AG06
Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 50 of 114
Start
Not Ready to
Switch On
Switch On
Disabled
Ready to
Switch On
Switched On
Operation
Enable
Fault
Quick Stop
Active
1
0
7
2
6
3
4
5
10 12
8
9
14
13
11
Toggle Bit:
The toggle bit must alternate between two subsequent responses of the actuator.
The value of the toggle bit with the first response of the actuator is 0 after activation of the
guarding protocol.
Status:
Status = 0: 'INITIALISATION'
Status = 4: 'STOPPED'
Status = 5: 'OPERATIONAL'
Status = 127: 'PRE-OPERATIONAL'
The identifier of the heartbeat protocol is permanently set to 1792 + Node-ID and cannot be
changed.
A node guard telegram can be sent in the NMT statuses 'OPERATIONAL', 'PRE-OPERATIONAL' or
'STOPPED'.
The node-guard protocol is only enabled when the heartbeat protocol is
deactivated!
9.4 State Machine
In the status word, the CANopen state machine indicates operational and error states of the
drive resulting from operational transitions.
The states of the state machine can change via control word (see chapter 9.6: Control word)
or due to internal events (e. g., occurrence of a fault).
The current state of the state machine can be read via the status word (see chapter 9.5:
Status word).
Fig. 10: State machine
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