Baumer GIM500R Podręcznik - Strona 15

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Baumer GIM500R Podręcznik
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
1
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
3
2
3
Stopped/Prepared
1
2
4/5
15/29
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