Mitsubishi Electric MELSEC iQ-R Series User Manual page 217

NMT start-up
• Index: 1F80H
Set the startup operation of the own node. If the own node is not a flying master, the node starts as NMT master and ignores
node control from the network targeting all nodes.
After setting the own node as a NMT master, it is necessary to store the parameters, and restart the own node by turning on
'Module restart request' (Y2) or by node reset.
Bit Item
b0 NMT master
b1 Start all nodes
b2 NMT master start
b3 Start node
b4 Reset all nodes
b5 Flying master
b6 Stop all nodes
Description
Set the own node type.
0: NMT slave
1: NMT master
Set the method to start the NMT slaves by sending NMT
service.
0: Send Remote node start to each NMT slave.
1: Send Remote node start excluding NMT master.
Set whether to start the node automatically as the NMT
master.
0: Shift automatically
1: Do not shift automatically
Set the startup method for NMT slaves.
0: The NMT master shall start the NMT slaves.
1: The NMT master does not start the NMT slaves. The
NMT slaves are started up via the PLC application.
Set whether to execute node reset if a mandatory slave fails
to respond to node guarding or heartbeat.
0: Execute communication reset in only CANopen nodes
where an error occurred.
1: Execute communication reset in all nodes.
Set whether to use flying master in the own node.
0: Do not use flying master.
1: Use flying master.
Set whether to execute remote node stop when a mandatory
slave fails to respond to node guarding or heartbeat.
0: Do not stop all nodes.
1: Stop all nodes.
Remarks
• When this bit is 0, the settings of this object and the
NMT slave assignment object (index 1F81H, subindex
01H to 7FH) will be ignored.
• Only one active NMT master is allowed in the network.
When this bit is 1, don't start remote nodes which are not
assigned to the NMT master via the NMT slave
assignment (index 1F81H, subindex 01H to 7FH).
When this bit is 1, the NMT master has to be shifted
manually into Operational. Execute SDO write in
Request NMT (index 1F82H, subindex 01H to 80H). The
start-up process will be suspended as long as the
CANopen node is not in Operational.

• This setting is ignored if b6 is 1.
• This setting is enabled only if the own node is the NMT
master.
• If a CANopen node does not shift to the NMT master
in NMT flying master negotiation, the CANopen node
shall operate as NMT slave.
• When using flying master, all NMT masters in the
network need to be set as flying masters.
• If this bit is 1, b4 setting is ignored.
• To restart the network, turn on 'Module restart request'
(Y2), or execute SDO write in Request NMT (index
1F82H, subindex 01H to 80H) to reset the NMT
master manually (execute communication reset or
node reset excluding NMT master).
Appendix 3 Object Dictionary
A
APPX
215