Node Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Node control

Node control is a function to control the NMT state of a CANopen node via the NMT master.
It can also control the NMT state of other NMT master from the own NMT master. However, the NMT state of an active NMT
master can be controlled only by the active NMT master itself.
Function details
The node control function provides the following controls over any CANopen node or all CANopen nodes.
Node control
Remote node stop
Remote node start
Pre-operational transition
Node reset
Communication reset
Remote node stop excluding NMT
master
Remote node start excluding NMT
master
Pre-operational transition excluding
NMT master
Node reset excluding NMT master
Communication reset excluding NMT
master
• Check 'NMT state' (Un\G601 to Un\G727) to confirm the NMT state of the CANopen node. ( Page 169
NMT state (Un\G601 to Un\G727))
• The node control can be executed by writing a request to RequestNMT of the active NMT master in SDO
communication.
• The control over a node other than the active NMT master can be executed with RequestNMT of a node
other than active NMT master as well. To change any node to Stop or Pre-operational state, however, use
RequestNMT of the active NMT master only. If RequestNMT of the active NMT master is not used, the
target node may not be changed to specified NMT state because an error event control of NMT master
operates.
■Setting method
Use the object dictionary to set the node control function. For details, refer to the following.
Page 217 Request NMT
1 FUNCTIONS
20
1.2 NMT
Description
Changes the NMT state of the specified CANopen node to "Stop".
Changes the NMT state of the specified CANopen node to "Operational".
Changes the NMT state of the specified CANopen node to "Pre-
operational".
Resets the specified CANopen node. (Changes the NMT state of the
specified CANopen node to "Initialization".)
Resets communications of the specified CANopen node. (Changes the
NMT state of the specified CANopen node to "Initialization".)
Changes the NMT state of the specified CANopen node to "Stop".
Note that if the specified CANopen node is the NMT master, the NMT state
cannot be changed.
Changes the NMT state of the specified CANopen node to "Operational".
Note that if the specified CANopen node is the NMT master, the NMT state
cannot be changed.
Changes the NMT state of the specified CANopen node to "Pre-
operational".
Note that if the specified CANopen node is the NMT master, the NMT state
cannot be changed.
Resets the specified CANopen node. (Changes the NMT state of the
specified CANopen node to "Initialization".)
Note that if the specified CANopen node is the NMT master, the NMT state
cannot be changed.
Resets communications of the specified CANopen node. (Changes the
NMT state of the specified CANopen node to "Initialization".)
Note that if the specified CANopen node is the NMT master, the NMT state
cannot be changed.
Remarks



The CANopen node and
communications settings are reset to
those at the time of power-on.
The communications setting is reset to
the setting at the time of power-on.



The CANopen node and
communications settings are reset to
those at the time of power-on.
The communications setting is reset to
the setting at the time of power-on.