Festo Электромотор MTR-DCI - Manual (Page 131)

5. Commissioning
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Festo P.BE-MTR-DCI-CO-EN en 1209a
5.4.3 Communication
When the power unit is switched on, all the slaves on the bus
initialize themselves and then remain in the network status
“Pre-Operational.”
Pre-Operational Only communication via SDO is possible in this status.
This service serves exclusively for parametrizing via SDOs
(DS 301 Profile, Indices 1000h ...1999h). PDO telegrams will
be ignored by the individual bus slaves.
The communication parameters of the PDOs of the MTR-DCI
are preassigned as follows when the device is switched on:
Object Communication parameter
1400h RPDO 1 – transmission type = 255 1)
1401h RPDO 2
1800h TPDO 1 – transmission type = 255 1)
– inhibit time = 0
– event timer = 0
1801h TPDO 2
1) asynchronous transmission (event triggered)
This parameter setting corresponds to the default asynchron-
ous transmission of most masters. It is possible to change
to synchronous transmission, for example, by applying the
corresponding values from the DS 301 communications pro-
file to the communication parameters, though changing the
mapping is not.
Operational After successful parametrizing, the CANopen master can
switch slaves into the Operational status with a special net-
work management telegram (NMT).
In this status communication via SDO and PDO is possible.
With the aid of the NMT telegrams you can switch between
the different states, if required.