Siemens SINAMICS G120 Operating Instructions Manual page 149

The transition states and addressed nodes are displayed using the command specifier and
the Node_ID:
Table 8- 36 Overview of NMT commands
NMT Master Request ----> NMT Slave message
Command
Start
Stop
Enter Pre-Operational
Reset Node
Reset Communication
The NMT master can simultaneously direct a request to one or more slaves. The following is
applicable:
● Requirement of a slave:
● Requirement for all slaves:
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
Figure 8-19 CANopen status diagram
Byte 0 (command specifier, CS)
1 (01hex)
2 (02hex)
128 (80hex)
129 (81hex)
130 (82 hex)
The slave is addressed using its node ID (1 - 127).
Node ID = 0
8.5 Communication via CANopen
Byte 1
Node ID of the addressed node
Node ID of the addressed node
Node ID of the addressed node
Node ID of the addressed node
Node ID of the addressed node
Configuring the fieldbus
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