Baumer GIM500R Manuale - Pagina 15

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NMT state event

Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be

read and written. In order to request PDO parameters, the encoder must first be moved to the operational

mode status.

Power on or hardware reset

Power on oder Hardware Reset

BootUp Message

4/5

Pre-Operational

4/5

Operational

The various NMT statuses

Init

Following initialization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes

automatically to the pre-operational mode status.

The COB ID of the BootUp message is made up of 700h and the node ID.

COB ID

Byte 0

700h + node ID 00

Pre-operational mode

In the pre-operational mode, SDOs can be read and written.

Operational mode

In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and

written.

Stopped or prepared mode

In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is

only possible in the stopped mode.

Baumer_GIM500R_CANopen_MA_EN.docx

03.19

Init

Stopped/Prepared

4/5

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