turck BL20 - Page 79

D301087 0308 - BL20 CANopen 4-7
Setting up communication
4
Booting with the Minimum Boot-up function is the typical applica-
tion option for CANopen, and runs according to the following state
diagram:
1 Power-on (automatic change of state to the "Initialization" condi-
tion)
2 Initialization Finished (automatic change of state to "Pre-Opera-
tional")
3 Start Remote Node (start the CAN node)
4 Enter Pre-Operational (change over to "Pre-Operational")
5 Stop Remote Node (stop the CAN node)
6 Start Remote Node (start the CAN node)
7 Enter Pre-Operational (change to "Pre-Operational")
8 Stop Remote Node (stop the CAN node)
9 Reset Node (reset the complete CAN node)
10 Reset Node (reset the complete CAN node)
11 Reset Node (reset the complete CAN node)
12 Reset Communication (reset communication for the CAN node)
13 Reset Communication (reset communication for the CAN node)
14 Reset Communication (reset communication for the CAN node)
Figure 1:
Boot procedure
with Minimum
Boot-up
1
3
4
2
5
6
7
8
9
10
11
12
13
14
P ower on or hardware reset
Pre-Operational state
Initialization state
Operational state
Stopped state