Network Management (Nmt Service) - Siemens SINAMICS G120 Original Instructions Manual

Configuring the fieldbus
7.7 Communication over CANopen
7.7.1.1

Network management (NMT service)

Network management (NMT) is node-oriented and has a master-slave topology.
The NMT services can be used to initialize, start, monitor, reset, or stop nodes. Two data
bytes follow each NMT service. All NMT services have the fixed COB ID = 0.
The SINAMICS converter is an NMT slave and can adopt the following states in CANopen:
● Initializing
The converter initializes itself after power on. In the factory setting, the converter then
enters the "Pre-Operational" state, which also corresponds to the CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into
the "Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
● Pre-Operational
In this state, the node cannot process any process data (PDO). However, the controller
can use SDO parameters to change or operate the converter, which means that you can
also enter setpoints via SDO.
● Operational
In this state, the node can process both SDO and PDO.
● Stopped
In this state, the node cannot process either PDO or SDO. The "Stopped" state
terminates one of the following commands:
– Enter Pre-Operational
– Start Remote Node
– Reset Node
– Reset Communication
The NMT recognizes the following transitional states:
● Start Remote Node:
Command for switching from the "Pre-Operational" communication state to "Operational".
The drive can only transmit and receive process data (PDO) in "Operational" state.
● Stop Remote Node:
Command for switching from "Pre-Operational" or "Operational" to "Stopped". The node
only processes NMT commands in the "Stopped" state.
● Enter Pre-Operational:
Command for switching from "Operational" or "Stopped" to "Pre-Operational". In this
state, the node cannot process any process data (PDO). However, the controller can use
SDO parameters to change or operate the converter, which means that you can also
enter setpoints via SDO.
● Reset Node:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Node command is issued, the converter resets all the
objects (1000 hex - 9FFF hex) to the state that was present after "Power On".
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Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG