Burkert Type 8640 - Manual (Page 75)

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14.7. Example for start-up
CANopen command sequence to put the Type 8640 valve terminal into 'Operational State', set outputs and read
in inputs.
• On entering 'Pre-Operational' state (following Power On or Network Reset) the slave sends the boot-up
message once with content 0. In this state the BUS LED flashes green.
SLAVE
Identifier = 700 hex + set address (e.g.: 701 hex for address 1)
Length = 1
Data = 00, xx, xx, xx, xx, xx, xx, xx
• Switch all nodes in network to 'Operational' state
MASTER
Identifier = 0
Length = 2
Data = 01, 00, xx, xx, xx, xx, xx, xx
In 'Operational' state the BUS LED lights up green all the time. On entering 'Operational' state the state of the
inputs is transmitted once.
SLAVE
Identifier = 180 hex + set address (e.g.: 181 hex for address 1)
Length = 4
Data = yy, yy, yy, yy, xx, xx, xx, xx
(yy: State of the inputs e.g.: 00 10 00 00, when input 9 is set)
The message is sent even if no inputs are activated. In this case the content of the 4 data bytes is 00 hex in each
case.
SLAVE
Identifier = 180 hex + set address (e.g.: 181 hex for address 1)
Length = 4
Data = 00, 00, 00,00, xx, xx, xx, xx
• Set outputs
MASTER
Identifier = 200 hex + set address (e.g.: 201 hex for address 1)
Length = 3
Data = yy, yy, yy, xx, xx, xx, xx, xx (yy: Initial value e.g.: 55 for every second output)
• Read in inputs - the state of the inputs is transmitted according to event (depending on configuration; cf.
Object 1800 hex); Message is sent every time the output state changes.
SLAVE
Identifier = 180 hex + set address (e.g.: 181 hex for address 1)
Length = 4
Data = yy, yy, yy, yy, xx, xx, xx, xx
(yy: State of the inputs e.g.: 01 00 00 00, when input 1 is set)
• Reset nodes to the 'Pre-Operational' state
MASTER
Identifier = 0
Length = 2
Data = 80, 00, xx, xx, xx, xx, xx, xx
The node is reset to the 'Pre-Operational' state. In this case the boot-up message is no longer sent (see point 1).
Configurationandparameter
settingsforCANopen
english
Type 8640