Network Management - Nmt; Slave State Control - WEG CFW-11 Communications Manual

NOTE!
The period of the SYNC telegrams must be programmed in the producer according to the transmission
rate and the number of synchronous PDOs to be transmitted. There must be enough time for the
transmission of these objects, and it is also recommended that there is a tolerance to make it possible
the transmission of asynchronous messages, such as EMCY, asynchronous PDOs and SDOs.
5.6 Network Management – NMT
The network management object is responsible for a series of services that control the communication of the device
in a CANopen network. For the CFW-11 the services of node control and error control are available (using
Guarding Heartbeat
or

5.6.1 Slave State Control

With respect to the communication, a CANopen network device can be described by the following state machine:
Transition
1 The device is switched on and initiates the initialization (automatic).
2 Initialization concluded, it goes to the preoperational state (automatic).
3 It receives the Start Node command for entering the operational state.
4 It receives the Enter Pre-Operational command, and goes to the preoperational state.
5 It receives the Stop Node command for entering the stopped state.
6 It receives the Reset Node command, when it executes the device complete reset.
7 It receives the Reset Communication command, when it reinitializes the object values and the CANopen device
communication.
During the initialization the Node-ID is defined, the objects are created and the interface with the CAN network is
configured. Communication with the device is not possible during this stage, which is concluded automatically. At
the end of this stage the slave sends to the network a telegram of the Boot-up Object, used only to indicate that the
initialization has been concluded and that the slave has entered the preoperational state. This telegram has the
identifier 700h + Node-ID, and only one data byte with value equal to 0 (zero).
In the preoperational state it is already possible to communicate with the slave, but its PDOs are not yet available
for operation. In the operational state all the objects are available, whereas in the stopped state only the NMT
object can receive or transmit telegrams to the network. The next table shows the objects available for each state.
).
Figure 5.5 - CANopen node state diagram
Table 5.7 - Transitions Description
Description
Node