RE: CANopen transitions from PRE_OP to OP state.

Thanks.  
I don’t have any problem with the node autostarting or going operational if it sees the system master 0x701 heartbeat as operational.  But for some reason I thought it had to be the autostart slave or a NMT command.  
So many possibilities.
John
 
 
 
From: [email protected] [mailto:[email protected]] On Behalf Of Simon Byholm
Sent: September-06-17 10:51 AM
To: [email protected]
Subject: Re: [CANLIST] 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
 
 
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