Further Canopen Functions; Network Management (Nmt Service) - Siemens SINAMICS G120 Operating Instructions Manual

Configuring the fieldbus
7.4 Communication via CANopen
7.4.4

Further CANopen functions

7.4.4.1

Network management (NMT service)

Network management (NMT) is node-oriented and has a master-slave topology.
The NMT services can be used to initialize, start, monitor, reset, or stop nodes. Two data
bytes follow each NMT service. All NMT services have the COB ID = 0. This cannot be
changed.
The SINAMICS converter is an NMT slave and can adopt the following states in CANopen:
● Initializing
● Pre-Operational
● Operational
● Stopped
The NMT recognizes the following transitional states:
● Start Remote Node:
● Stop Remote Node
● Enter Pre-Operational
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The converter passes through this state after Power On. In the factory setting, the
converter then enters the "Pre-Operational" state, which also corresponds to the
CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into
the "Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
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.
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.
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
SINAMICS G120C Inverter