Siemens SINAMICS G120 Operating Instructions Manual page 148

Configuring the fieldbus
8.5 Communication via CANopen
● Operational
● Stopped
The NMT recognizes the following transitional states:
● Start Remote Node:
● Stop Remote Node
● Enter Pre-Operational
● Reset Node:
● Reset Communication:
146
In this state, the node can process both SDO and PDO.
In this state, the node cannot process either PDO or SDO. The Stopped mode is exited
by specifying one of the following commands:
– Enter Pre-Operational
– Start Remote Node
– Reset Node
– Reset Communication
command for switching from the "Pre-Operational" communication status to
"Operational". The drive can only transmit and receive process data (PDO) in
"Operational" status.
command for switching from "Pre-Operational" or "Operational" to "Stopped". The node
can only process NMT commands in the "Stopped" status.
command for switching from "Operational" or "Stopped" to "Pre-Operational". In this state,
the node cannot process any process data (PDO). It can, however, be parameterized or
operated via SDOs, which means that you can also enter setpoints via SDO.
command for switching from "Operational", "Pre-Operational", or "Stopped" to
"Initialization". When the Reset Node command is issued, all the objects (1000 hex -
9FFF hex) are reset to the status that was present after "Power On".
command for switching from "Operational", "Pre-Operational", or "Stopped" to
"Initialization". When the Reset Communication command is issued, all communication
objects (1000 hex - 1FFF hex) are reset to the status that was present after "Power On".
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB