Bootup Protocol; Nmt State After Power Up; Nmt Services - Node Control Services - Siemens Sinamics S120 Commissioning Manual

2.4.2

Bootup protocol

After the NMT slave has booted, this protocol signals that the NMT slave has taken on the
state "Pre-Operational" after having been in the "Initialization" state.
Bootup protocol COB-ID = 700 hex + node ID
1 data byte with the value 0 is transmitted.
2.4.3

NMT state after power up

As an extension to the NMT services, automatic switching to the "Operational" state after
POWER ON can also be achieved using parameter settings (see Fig. "State diagram of a
CANopen node (Page 30)").
Using parameter p8684, the CANopen-NMT state is set, which is effective after booting or as
result of the NMT service "Reset Node" or "Reset Communication".
Possible values:
● 4: Stopped
● 5: Operational
● 127: Pre-Operational (factory setting).
The NMT state "Pre-Operational" is selected in the factory setting, as this corresponds to the
CANopen standard.
2.4.4

NMT services - Node Control Services

The following table lists the NMT services that are available for controlling the status
transitions.
Table 2- 1
Transitions
(1)
(2)
(3), (6)
(4), (7)
(5), (8)
(9), (10), (11)
(12), (13), (14)
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Transitions in the status diagram
Services
After POWER ON, the Control Unit automatically switches to "Initialization".
After initialization, it switches to "Pre-Operational".
(see also Chapter "Drive-dependent communication objects (Page 38)" or
Chapter "Manufacturer-specific objects (Page 51)").
Start_Remote_Node command
Enter_Pre-Operational_State command
Stop_Remote_Node command
Reset_Node command
Reset_Communication command
Add infeed
2.4 Network management
31