ABB FCAN-01 User Manual page 92

92
The NMT (Network Management) message is mapped to a single
CAN frame with data length of 2 bytes. Its identifier is 0. The first
byte contains the command specifier and the second contains the
Node ID of the device, which must perform the command (if the
node ID is 0, all nodes must perform the command). The NMT
message transmitted by the NMT master forces the nodes to
transit to another NMT state. The CANopen state machine
specifies states: Initialisation, Pre-Operational, Operational and
Stopped. After power-on, each CANopen device is first in the
Initialization state and then the state transits automatically to the
Pre-Operational state.
The NMT commands used for controlling the node are:
Note: If Node ID is 0, all NMT slaves are addressed.
The node state indications are as follows:
Communication
Command
001
002
128
129
130
Header
00000000000000010
Indication
0
4
5
127
Start_Remote_Node
Stop_Remote_Node
Enter_Pre-Operational_State
Reset_Node
Reset_Communication
Payload data byte
1
NMT Command
Boot-up
Stopped
Operational
Pre-operational
Name
2
Node ID
State