Manual

CANopen Module Specification 20
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
The module can not enter the state STOPPED when transitions are initiated from the PLC.
If the module is configured as a slave its behavior is controlled by a CANopen manager on the network
by the use of NMT telegrams. If the connection to the manager is lost, though, the module sends an
emergency code (FFA0h) and enters PRE-OPERATIONAL state.
Note: At a STOP from the PLC, the data last received is stored in the CM CANopen module. When
the PLC issues a RUN the stored data is sent on the CANopen bus. The behavior of the module is the
same if the connection is lost with the PLC on PROFINET.
Transition no. Description
1 The initialization state is entered automatically at power on.
2 Initialization finished. The pre-operational state is entered automatically.
3 Reset node or reset communication. New parameters have been received and a new initial-
ization is required.
4 If configured to do so, the controlling manager changes to “Run” mode. If the node is a CAN-
open manager, this transition is controlled by the PLC. If it is a slave, the transition is control-
led by the CANopen manager using the command ‘Start remote node’.
5 Return to pre-operational state. If the controlling manager is a PLC, this transition is initiated
from the PLC.
6 Stop
7 Return to pre-operational state.
8 Start
9 Stop
10 Reset node or reset communication
11 Reset node or reset communication. New parameters have been received and a new initial-
ization is required