Re: CANopen transitions from PRE_OP to OP state.

The only ways described in the spec is NMT start and slave autostart, but
masters have
the option to be started by the local application, and I don't think it's
explicitly forbidden
for slaves so it's a bit of a gray area.

I would stick to the official methods, to not confuse people.

Simon

Simon Byholm - Software Manager / Quality Manager

Phone: +358 6 357 6306
Fax: +358 6 357 6320
email: [email protected]
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TK Engineering solves your CAN, CANopen, J1939 and NMEA2000 problems by
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On Wed, Sep 6, 2017 at 10:48 PM, John Dammeyer <[email protected]>
wrote:

> 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
>
>
> Simon Byholm - Software Manager / Quality Manager
>
> Phone: +358 6 357 6306 <+358%206%203576306>
> Fax: +358 6 357 6320 <+358%206%203576320>
> email: [email protected]
> web: www.tke.fi
>
> TK Engineering solves your CAN, CANopen, J1939 and NMEA2000 problems by
> providing the hardware, software and know-how you need to design,
> manufacture and troubleshoot your industrial and heavy machine CAN
> networks. Call +358 6 357 6300 <+358%206%203576300> or email [email protected]
> to learn how we can help you solve your CAN related problems.
>
>
>
> 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>
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