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CANopen Network Interface
1606218 02 08/2006 59
"Change of
state" (modes
254 and 255)
The asynchronous exchange of PDO in "Change of state" mode enables the rapid
modification of an input value, followed by immediate confirmation of the change of
value. This avoids the need to wait for the master to send a request.
A high priority bus status is assigned to the "Change of state" mode and only the
updated input value is returned, not the image of the full process, thus considerably
reducing traffic on the bus.
"Change of state" corresponds to the modification of the input value (event control).
RISK OF UNINTENDED DEVICE OPERATION
The "Change of State" mode must not be used for inputs/outputs whose state
changes continuously (such as analog inputs). The continual modification of I/Os
using the "Change of State" mode may block the transmission of other crucial
commands, resulting in the unintended operation of the device.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
WARNING