User`s manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual
C27750-001 PAGE 6-9
Power On
Reset Drive
Application
Reset
Communication
Operational
SDOs, PDOs and
Sync
Pre-Operational
SDOs and Sync
Stopped
Start
Remote
Node
Enter Pre-
Operational
State
Stop
Remote
Node
Stop
Remote
Node
Start
Remote
Node
Initialising
Reset
Communication
Reset
Node
LSS Init
Valid
Node Id
Figure 6.4 CANopen node states
After power up the drive checks for a valid node identifier (node-id). Note that changing the hex switches once the
drive has reached the LSS Init state has no effect any more. Changes of the node-id setting will only be recognised
after a new power cycle.
All internal variables are initialised then and the drive automatically enters the Pre-Operational state after sending a
bootup complete message. In the Pre-Operational state the drive can be configured using Service Data Objects
(SDO). After configuring the drive it can be set into the Operational state using Network Management services
(NMT). Please refer to DS 301 for further information.
6.6.1 CAN state
The current CAN state is available through the parameter can_state
(index 0x2009, subindex 0). It contains the
following values depending on the CAN state:
0x01 - Power on state
0x02 - LSS Init state
0x04 - Reset Application state
0x08 - Reset Communication state
0x10 - Initialisation state
0x20 - Pre_Operational state
0x40 - Stopped state
0x80 - Operational state
The CAN state is also indicated through the RUN LED at the front panel. See 'CAN Indicators' or DS 303 for
further information.