Protocol Boot-Up; Protocol Nmt (Node Control) - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
3. NMT state Stopped
By switching a CANopen
Furthermore, this NMT state may be used to achieve certain application behaviour.
4. NMT States and communication object relation
The relation between NMT states and communication objects is shown in the following table. Services in the
listed communication objects may only be executed if the CANopen
are in the appropriate NMT states.
In case of trying to send a communication object which is not allowed in the specific NMT state, no error
information will be displayed.
PDO
SDO
SYNC
EMCY
TIME
Node control and error control
5.8.2

Protocol Boot-Up

This protocol is used to signal that a NMT slave has switched to the NMT state Pre-operational after the NMT
state Initialization. The protocol uses the same CAN-ID as the error control protocols.
One data byte is transmitted with value 0.
Boot-up producer
Request
5.8.3

Protocol NMT (Node control)

This Protocol is used by the NMT Master to control the NMT state of remote Nodes. Producing is allowed only
by the NMT Master.
If the module is the active NMT master, the module is ignoring NMT messages with the Node-ID 0 (All Nodes).
NMT Master
Request
®
device into the NMT state Stopped, it is forced to stop all communication.
Pre-operational
-
CAN-ID = 1792 + Node-ID
CAN-ID = 0
Command
specifier
Command specifier (1 byte)
1 Start
2 Stop
128 Pre-Operational
129 Reset Application
130 Reset Communication
®
devices involved in the communication
Operational Stopped
-
-
-
-
-
0
Node-ID
Node-ID (1 byte)
0 All Nodes
1 to 127 Selected Node
5 Introduction of Functions
5.8 Network Management
Boot-up consumers
Indication
NMT Slaves
Indication
Indication
Indication
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