Nmt Start-Up - Mitsubishi Electric MELSEC iQ-R Series User Manual

NMT start-up

NMT start-up is a function to start up the network by setting parameters in NMT slaves (2) that were detected in the network
when the NMT master (1) starts.
(1)
: Remote node start
Function details
The NMT state of a CANopen node automatically transitions to "Pre-operational" when the node is powered off and on or
reset.
Note that "Remote node start" from the NMT master is required for the NMT state of the NMT slaves to transition to
"Operational".
The NMT start-up function can change the NMT state of each NMT slave in the network to "Operational".
In the NMT start-up function, when the module is powered off and on or reset, the NMT master starts the NMT slaves and
makes itself and the NMT slaves "Operational" to allow the network to start up automatically.
The processing when the RJ71CN91 module executes the NMT startup function is explained below.
1.
When the power is turned off and on, a reset is performed, or the CPU module switches from STOP state to RUN state,
the NMT startup function is executed.
2.
Checks whether the own node is the NMT master.
Start up as the NMT master when the NMT master is enabled.
Start up as an NMT slave when the NMT master is disabled. (The process ends.)
3.
Check if the flying master function is enabled.
Start up as the NMT master when the flying master function is disabled.
Compare the priority between the flying masters when the flying master function is enabled.
Start up as the NMT master (active NMT master) when the own node is the highest priority.
Start up as an NMT slave (standby master) when another node is the highest priority. (The process ends.)
4.
For the NMT slaves, check the existence of an NMT slave where the communication reset condition is disabled.
When an invalid NMT slave for the communication reset condition exists, execute a communication reset for each NMT slave
other than the nodes where the communication reset condition is disabled.
When the communication reset condition for all NMT slaves is enabled, execute a communication reset for all nodes.
5.
Start a boot start process for each NMT slave.
Operations listed in the table below are performed in boot processing.
If any operation fails, it is regarded as a boot failure.
Item
NMT boot slave
Node guarding/heartbeat
Remote node start (To NMT slave)
LSS
Initialization Pre-operational
→
(2)
Initialization Pre-operational
→
(2)
Description
Execute the following operations when NMT boot slave is enabled.
• NMT slave verification
• Configuration manager
Start monitoring when node guarding or heartbeat is enabled.
Execute Remote node start (To NMT slave) when NMT boot slave and Start
node are enabled and Start all nodes is disabled.
Execute LSS if Identity Object is set when the boot time is timeout without
detection of a mandatory slave and a slave. NMT start up processing fails
after the LSS execution.
1
1 FUNCTIONS
21
1.2 NMT