Nmt Messages - Curtis 1352 Manual

Curtis 1352 eXm Manual,
The standard organization of the COB-ID puts the message type in the
upper four bits, and the Node ID in the bottom seven bits:
11

NMT MESSAGES

NMT (Network Management Transmission) messages are the highest priority
message available. The NMT message puts the eXm into one of the four defined
states. These messages have 1 byte of data sent by the master; the slave does not
respond with any data to an NMT. The eXm state value is transmitted with
each heartbeat message.
The NMT message identifier consists of the standard message type (NMT)
in the top four bits; the bottom seven bits must be set to zero.
The first data byte of the NMT command is the command specifier:
The second byte of the NMT command defines whether this NMT is for
all slaves on the bus (data byte = 00h) or for a specific node (data byte = Node
ID of the eXm)
Rev. D
10 9 8 7 6 5
Message Type
Value State
00h Initialization (or "boot-up")
04h StoppedXx
05h OperationalXx
7Fh Pre-OperationalXx
Value Command Specifier
01h Enter the Operational state
02h Enter the Stopped
80h Enter the Pre-Operational
81h Reset the eXm (warm
82h Reset the CAN
3 — CANopen COMMUNICATIONS
4 3 2 1
Node ID
stateXx
statex
boot)Xx
busXx
15