Baumer BA_DSRT_22DJ - Handbuch (Seite 24)

Manual_CANopen_StrainLink_EN_V3_05.doc 24/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
5.2.2 Start procedure
Initialisierung
Programmreset
Communikations-
reset
Pre-Operational
Stopped
Operational
(1)
(2)
(3) (4)
(5)
(3)
(4)
(5)
(6)
(7) (1) Power on
(2) Automatical alternation to
Pre-Operational
(3) Alternation to Operational
(4) Alternation to Pre-Operational
(5) Alternation to Stopped
(6) Reset Application
(7) Communcationsreset
Initialization
This is the state that a node passes through following power-on. During this phase, the device application
and device communications are initialized. Then, the node automatically transitions to the Pre-Operational
state.
Pre-Operational
In this state, the node waits for the Operational mode to be enabled. The possible communications are
shown in the table below.
Operational
In this state, the CANopen node is completely ready for operation and can transmit messages (PDOs,
Emergency) on its own.
Communications possible during the various modes:
Initialization
Pre-Operational
mode
Operational
mode
Stopped mode
PDO X
SDO X X
Sync indexes X
Emergency indexes X X
Boot-up indexes X
Network Management X X X
Heartbeat X X X
LSS X