Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 38)

4-2 Configuring the CANopen Network
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Figure 4.1 The NMT Slave State Machine
The numbers in Figure 4.1 correspond to the numbers within the parenthesis
in the following state descriptions.
Initialization State
The CANopen adapter enters the Initialization state automatically after
power-up and after a reset command. After the initialization is done, the
adapter enters into the Pre-Operational state (12).
Pre-Operational State
In the Pre-Operational state, the adapter can be configured and
parameterized, and allocation via SDO is possible but PDO communication
is not allowed in this state. After this state is attained, the node can be
switched to the Operational state when receiving a Start_Remote_Node
message (6) from an NMT master.
Initialisation
Pre-Operational
Stopped
Operational
Power-on
12
10
6 8
7
6
7
8
Reset
Communication
Reset
Application
11