System Start-up Behaviour

Initial Operation

The CANOPEN protocol is handled by the CANOPEN Communication Module and the PLC operating system automatically.

When the Communication Module is initiated in the proper way and the user application is running, the Communication Module and the bus become active.

No function blocks are necessary for exchanging process data via CANOPEN. Special CAN functions can be realized by using the function blocks of the CANOPEN library.

The Communication Module starts communication via CANOPEN after the user application is started and then attempts to initialize the configured slaves. After a successful initialization, the Communication Module and the slaves exchange the process data.

The behavior of the Communication Module when the user application is stopped can be configured with the CPU parameter Behavior of outputs in Stop. See description of the CPU parameters for details.