Siemens Simatic Operating Instructions Manual

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Functions4.1 CANopenSIMATIC PN/CAN LINK38 Operating Instructions, 03/2018, A5E39895388-ABPN/CAN LINK statesThe PN/CAN LINK can take on the following states in "CANopen Slave" mode:State MeaningHW Init / Waitingfor S7The state of the PN/CAN LINK during booting and when the PN/CAN LINK is notyet completely configured by the S7 controller.Note: This is not an NMT state defined in CANopen.Initialization Initialization state The entries made by the CANopen Manager in the "Communi-cation parameters" are reset to factory settings. All parameters configured in theHSP are reset to the values set in the HSP. Communication is reset as well.CANopen distinguishes between substates:• "Reset Application": The OD entries that are not 1xxxh are reset. For PN/CANLINK these are the process data exchanged with the S7 controller.• "Reset Communication": The OD entries of the "Communication Profile Area"(OD 1xxxh) are reset and thus the CANopen communication.Pre-Operational In this state the CANopen Manager can configure the slaves and synchronizethem with SYNC. Except for PDOs all other types of communication are active(e.g.: SYNC, SDO, Heartbeat)Operational Normal operation, all types of communication are activeStopped Only heartbeat / node guarding are active but device can still be controlled viaNMT, "application OFF state"State transitionsState transitions in "CANopen Slave" mode:Transition Meaning / trigger1 Takes place automatically if the PN/CAN LINK has been configured for the firsttime since boot-up of the S7 controller2 Takes place automatically.3 Takes place automatically. A "Boot-up" message is sent.4 No "real" transition because CANopen does not know "configured" / "not config-ured" state.But: During configuration by the CANopen Manager, the communication behaviorof the PN/CAN LINK changes, for example, when the manager has configured"Heartbeat".5 Triggered by an NMT command from the CANopen Manager.6 Triggered by an NMT command from the CANopen Manager, by a communica-tion error when OD 1029h was configured accordingly or when the control bit sentby the S7 controller in the cyclic data changes to "OFF".7 Triggered by an NMT command from the CANopen Manager or by a communica-tion error when OD 1029h was configured accordingly.8 Triggered by an NMT command from the CANopen Manager.9 Triggered by an NMT command from the CANopen Manager or by a communica-tion error when OD 1029h was configured accordingly.