Canopen Protocol Description; Nmt - Vacon CANopen OPTE6 User Manual

CANopen protocol description

3. CAN
OPEN PROTOCOL DESCRIPTION
3.1

NMT

NMT network management manages CANopen, and is a mandatory, common feature for all
devices. The protocol describes several node control services and the state machine.
Power on or hardware reset
(14)
Pre-operational
(13)
(12)
1 = When the power is on, the NMT state is entered autonomously
2= The NMT state initialisation is finished, the NMT pre-operational state is entered
automatically
3 = NMT service starts with remote node indication or by local control
4 and 7 = NMT service enters pre-operational indication
5 and 8 = NMT service stops remote node indication
6 = NMT service starts remote node indication
9, 10 and 11 = NMT resets node indication
12, 13 and 14 = Indication of NMT service reset communication
Boot-up protocol
After a node starts, it will enter automatically into the pre-operational state. Always when this
transition occurs, a boot-up message is sent into the bus.
Table 1: Boot-up message
CAN ID LENGTH
0x700 +
1
Node ID
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
(1)
Initialisation
(2)
(7)
(4) (5)
(3)
Operational
Figure 1. NMT state machine
DATA0 DATA1 DATA2
0
(11)
Stopped
(8)
DATA3 DATA4 DATA5
vacon • 9
(10)
(9)
11651_uk
DATA6 DATA7
3