Re: CANopen transitions from PRE_OP to OP state.

Hello John

There is a spec for autostarting slaves.

If bit 4 in object 0x1F80 is 1 and all other bits are zero in a
slave it is autostart and should go operational automatically.

CiA 302-2 has more info on the NMT startup and heartbeat
processes.

Simon

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On Wed, Sep 6, 2017 at 6:54 PM, John Dammeyer <[email protected]>
wrote:

> Hi everyone,
>
>
>
> I have a question for CANopen conformance experts.
>
>
>
> Is a node allowed to go NMT_OPERATIONAL on receipt of the system master’s
> heartbeat that shows the master is  NMT_OPERATIONAL or does it require a
> specific NMT command, either global or to its specific ID, to make that
> transition.
>
>
>
> The Flow Diagram of the NMT states suggest the change to OPERATIONAL only
> happens with the ID=0x000 message from the NMT Master and a GO_OPERATIONAL
> (0x01) command.  That can be to a specific node (0x01..0x7F) or to all
> nodes (0x00)
>
>
>
> To pass conformance if the node times out on a missing heartbeat should it
> drop back to PRE_OPERATIONAL and suspend PDO messages or just perform
> whatever operation it requires and remain OPERATIONAL?
>
>
>
> Thanks
>
> John Dammeyer
>
>
>
>
>
> "ELS! Nothing else works as well for your Lathe"
>
> Automation Artisans Inc.
>
> http://www.autoartisans.com/ELS/
>
> Ph. 1 250 544 4950 <%28250%29%20544-4950>
>
>
>
>
>