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BMD 1E _ _ - _ _ _ _ / _ _ _ -NH5...
Microwave Positioning Sensor
2
System description of the BMD CANopen (continued)
2.4
Operating states
Turn-on or hardware reset
1
Initialisation
14
2
Pre-operational
5
13
3
4
6
12
Operational
1 At power on the NMT state initialisation is entered
autonomously
2 NMT state initialisation finished - enter NMT state
Pre-operational automatically
3 NMT service start remote node indication or by
local control
4, 7 NMT service enter pre-operational
5, 8 NMT service stop remote node indication
6 NMT service start remote node indication
9, 10, 11 NMT service reset node indication
12, 13, 14 NMT service reset communication indication
Fig. 2-1:
NMT state machine
2.4.1
Boot-up/Initialization state
In this state the sensor is initialized. Initialization loads and
applies the device-specific parameters. The device is then
operational and automatically switches over to the pre-
operational state.
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11
7
10
Stopped
8
9
2.4.2
Pre-operational state
In this state the sensor can be configured by a controller
over the CANopen network. Communication is over a
peer-to-peer communication channel which is provided by
use of an SDO. The IDs which the SDO needs are
determined based on the node ID according to the ID
allocation procedure used in the CANopen standard. The
ID numbers for the SYNC, emergency, and process data
objects (PDOs) are also assigned according to the ID
allocation procedure used in the CANopen standard.
When configuring using a master
application, make sure that only correct
parameters are entered in the object
directory, since the sensor is not capable
of performing any consistency and value
range checks!
In addition, in the pre-operational state the node ID and
transfer rate can be configured using LSS access. Any
change to these LSS parameters is at first volatile; only by
saving the LSS parameters does the sensor permanently
store the configuration.
Accesses via LSS should be made in a
separate network. Incorrect use can result
in faulty behavior of the entire network!
By changing the node ID all COB ID objects are adjusted in
accordance with the CANopen ID allocation procedure.
The objects can then be manually changed as desired.
2.4.3
Operational state
After the transition to the operational state, communication
using process data objects (PDOs) is enabled. Depending
on the setting in the object directory (mapping, send type
for the PDO) the objects are now sent in the CANopen
network. SDO access remains in effect.
2.4.4
Stopped state
In the stopped state the device responds only to NMT
commands.
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