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Will CANOpen communication remains active if M238 controller is in STOP state

CAN behavior of M238 controller when it is on STOP state depends on setting “Update IO while in STOP” under PLC setting tab of MyController

CAN Behavior When Update IO While In Stop Is Selected
The following is true for the CAN buses when the Update IO while in stop setting is selected:
  • The CAN bus remains fully operational. Devices on the CAN bus continue to perceive the presence of a functional CAN Master.
  • TPDO and RPDO continue to be exchanged.
  • The optional SDO, if configured, continue to be exchanged.
  • The Heartbeat and Node Guarding functions, if configured, continue to operate.
  • If the Behavior for outputs in Stop field is set to Keep current values, the TPDOs continue to be issued with the last actual values.
  • If the Behavior for outputs in Stop field is Set all outputs to default the last actual values are updated to the default values and subsequent TPDOs are issued with these default values.
CAN Behavior When Update IO While In Stop Is Not Selected
The following is true for the CAN buses when the Update IO while in stop setting is not selected:
  • The CAN Master ceases communications. Devices on the CAN bus assume their configured fallback states.
  • TPDO and RPDO exchanges cease.
  • Optional SDO, if configured, exchanges cease.
  • The Heartbeat and Node Guarding functions, if configured, stop.
  • The current or default values, as appropriate, are written to the TPDOs and sent once before stopping the CAN Master.
Summarizing, CANOpen communication will be creased if Update IO While In Stop is not selected and continues if Update IO While In Stop is selected.
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