State Model - Siemens Simatic Operating Instructions Manual

Functions
4.1 CANopen
4.1.2.1

State model

State model
The state model in "CANopen Manager" mode is based on the NMT state model described
in the CiA standard "CiA 301" taking into account the network management function.
Figure 4-2
PN/CAN LINK states
Below you will find a description of the states in the "CANopen Manager" mode:
PN/CAN LINK state
HW Init / Waiting for S7
Initialization
Booting slaves
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State model CANopen Manager
Meaning
The state of the PN/CAN LINK during booting and when the PN/CAN
LINK has not been fully configured by the S7 controller yet.
Initialization state: Resetting the OD to the values configured in the HSP
and resetting the communication.
The state is not "visible" on the CANopen side because there is no CAN
communication in this state.
The NMT state of the slaves connected via CANopen does not change.
The PN/CAN LINK runs the boot-up procedure according to CiA stand-
ard "CiA 302 Part 2" and configures the CANopen slaves with SDO.
The PN/CAN LINK has the NMT state "Pre-Operational".
The NMT state of the slaves connected via CANopen is "Pre-
Operational" after booting.
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB