Nmt; Nmt State - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.2

NMT

NMT is a function to manage the CANopen network status. The NMT master controls all NMT slaves within the CANopen
network.

NMT state

NMT state is the operating status of a CANopen node. When the NMT state is Operational, the CANopen node is capable of
all communications.
The following table lists the NMT states for the RJ71CN91.
NMT state
Initialization
Pre-operational
Operational
Stop
The following figure shows the NMT state transition paths (No.1 to 9).
START
No.1
(1)
No.2
(2)
No.3 No.4
(3)
(1) Initialization
(2) Pre-operational
(3) Operational
(4) Stop
Path Condition for the NMT state to change
Number
NMT master
1 Power off and on or reset
2 CANopen node initialization is completed.
3 • NMT start-up is enabled.
• Remote node start is accepted.
4 • A communication error is detected.
• Pre-operational transition is accepted.
5 • Remote node stop is accepted.
1 FUNCTIONS
18
1.2 NMT
Description
The CANopen node is being initialized.
Communications other than PDO are possible. (SDO, SYNC, EMCY, TIME, Node control, and Heartbeat/
Node-guarding communications are possible.)
Changing the object dictionary regarding PDO, setting and changing CANopen node parameters are
possible.
CANopen nodes that are powered off and on or reset will enter this state automatically.
All communications are possible. (PDO, SDO, SYNC, EMCY, TIME, Node control, and Heartbeat/Node-
guarding communications are possible.)
A CANopen node transitions to this state automatically or requires node control by the NMT master.
When all nodes enter this state, start-up of the CANopen network is completed.
All communications are stopped. (Only Node control and Heartbeat/Node-guarding communications are
possible.)
A CANopen node transitions to this state when it has an error or is executing a specific application.
No.9
No.7
No.5
(4)
No.6
No.8
*1
*3
*2
*3
*3
NMT slaves
Power off and on or reset
CANopen node initialization is completed.
• Remote node start is accepted.
• A communication error is detected.
• Pre-operational transition is accepted.
• Remote node stop is accepted.
*3
*2
*3
*3