US Patent 7206882 Triggered communication network for CANOpen networks

A CANOpen network including a bus master and an I/O module is disclosed. Each is communicatively coupled to a common bus. The I/O module is subject to a state change. The bus master collects state information from the I/O module by determining if the bus master is prepared to receive further data from the bus and sending a trigger signal from the bus master to the I/O module if the bus master is prepared to receive further data from the bus. The I/O modules sends a state signal to the bus master in response to the trigger signal.