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EN / MasterBus – CANopen Interface
3
3 CANopen communication
This interface is designed to be part of a CANopen
network. It follows the minimum boot-up process as
defined by CANopen in the NMT protocol. The state
diagram is shown in figure 1. The interface will show
the current State on the monitoring Page on
MasterBus.
Notes: You have to log in as Installer to be able to
change the configuration. If you are not familiar with
this process contact your Mastervolt representative.
We assume you use MasterAdjust software to do the
configuration of the CANopen interface. A basic
understanding of CANopen is required for the
configuration process.
Match the CANopen interface Baud rate to your
CANopen network. You can choose between
125kB/s and 250kB/s for the CANopen interface.
You can set the Node-ID of your interface. The
interface will transmit a “Heartbeat message” every
second at 0x700+Node-ID whenever the interface is
powered. For example, if you set the Node-ID to
0x05, the Heartbeat message will have an COB-ID
of 0x0705. The Node-ID is also used for NMT
control messages.
NOTE: Literals in this manual that start with ‘0x’ are
hexadecimal numbers(base 16). This format is
standard in CANopen.
All standard CANopen products will wait in the Pre-
operational state for a NMT Module Control
message. When a “Start Remote Node” Control
message is received the state will change to
Operational.
This interface has an ‘Auto start’ option. With this
option selected the Interface will proceed from Pre-
Operational to Operational automatically. The
Interface will start operation without the need for any
input from other CANopen devices.
This option can be turned off to follow the standard
CANopen behaviour. The interface listens to Control
messages with its specific Node-ID and broadcasts
to all devices (Node-ID=0).
If you are new to CANopen we recommend
to leave the ‘Auto start’ turned on. The
CANopen interface will be operational
without Control messages.
Table 1 State transactions of Figure 1
State transactions / NMT Service command
(NMT command specifier)
1 Device initialisation finished
2 Automatic in Auto start or upon receiving Start
remote Node / Start_Remote_Node (0x01)
3 Stop remote frame received /
Stop_Remote_Node (0x02)
4 Enter Pre-operational State frame received /
Pre-Operational_Remote_Node (0x80)
5 Reset node Frame received /
Reset_Remote_Node (0x82)
Figure 1:
State diagram CANopen devices with NMT protocol
Initializing
Pre-operational
Operational Stopped
2
1
3
4
3
Power on
5
2
4
3


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