Network Management Services; Nmt Device Control Services - TR-Electronic 58 Serie Montageanleitung

CANopen information

4.6.1 Network management services

The network management (NMT) has the function to initialize, start, stop and monitor
nodes of a CANopen network.
NMT services are initiated by a NMT master, which identifies individual nodes (NMT
slave) about their Node-ID. A NMT message with the Node ID 0 refers to all NMT
slaves.
The measuring system corresponds to a NMT slave.

4.6.1.1 NMT device control services

The NMT services for device control use the COB-ID 0 and get thus the highest
priority.
By the data field of the CAN message only the first two bytes are used:
CCD
Byte 0
The following commands are defined:
CCD Meaning
-
-
0x01
0x02
0x80
0x81
0x82
Table 4: NMT device control services
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Page 78 of 112
Node ID
Byte 1
At Power on the initialization state is entered autonomously
Initialization finished - enter PRE-OPERATIONAL automatically
Start Remote Node
Node is switched into the OPERATIONAL state and the normal
net-operation is started.
Stop Remote Node
Node is switched
communication is stopped. An active connecting monitoring
remains active.
Enter PRE-OPERATIONAL
Node is switched into the PRE-OPERATIONAL state. All
messages can be used, but no PDOs.
Reset Node
Set values of the profile parameters of the object on default
values. Afterwards
COMMUNICATION state.
Reset Communication
Node is switched into the RESET COMMUNICATION state.
Afterwards transition into the INITIALIZATION state, first state
after Power on.
TR - ECE - BA - DGB - 0038 - 05
into the STOPPED
transition into
State
(1)
(2)
(3),(6)
state and the
(5),(8)
(4),(7)
(9),(10),
the RESET (11)
(12),(13),
(14)
Printed in the Federal Republic of Germany
02/02/2016