Mitsubishi Electric MELSEC iQ-R Series User Manual page 219

Request NMT
• Index: 1F82H
• Subindex: 01H to 80H
Set this object for node control.
Each subindex corresponds to the node ID of each CANopen node in the network. Set subindex 80H to control all nodes.
Only the NMT master is allowed to execute node control.
Read this object to read the NMT state of the node ID corresponding to the subindex.
• The NMT states of other nodes that will be read are the NMT states obtained by the RJ71CN91 through the
heartbeat function (when operating as a consumer) or the node guarding function (when operating as the
active NMT master).
• If the above function is not used or the NMT states have not been obtained, "NMT state unknown" will be
read. However, when the own node is the active NMT master, the NMT states directed by node control will
be read.
• For the RJ71CN91, the NMT states that can be read from this object are also stored in the buffer memory.
For details on the NMT state, refer to the following.
Page 169 NMT state (Un\G601 to Un\G727)
Setting value Description
Read
00H NMT state unknown
01H CANopen node missing
04H Stop
05H Operational

06H
07H Remote node: Reserved
Local node: Communication reset state
7FH Pre-operational
84H 

85H
86H 

87H

8FH
Write


Executes remote node stop.
Executes remote node start.
Executes node reset.
Executes communication reset.
Executes Pre-operational transition.
Executes remote node stop excluding NMT master.
NMT slaves will be set to Stop, but the NMT master will stay in
its current NMT state.
Executes remote node start excluding NMT master.
NMT slaves will be set to Operational, but the NMT master
will stay in its current NMT state.
Executes node reset excluding NMT master.
NMT slaves will be set to Reset node, but the NMT master will
stay in its current NMT state.
Executes communication reset excluding NMT master.
NMT slaves will be set to Reset communication, but the NMT
master will stay in its current NMT state.
Executes pre-operational transition excluding NMT master
NMT slaves will be set to Pre-operational, but the NMT
master will stay in its current NMT state.
Appendix 3 Object Dictionary
A
APPX
217