Siemens SINAMICS G110M Function Manual page 164

Communication over CANopen
6.1 Network management (NMT service)
Boot-up Service
The boot-up protocol indicates the state of the NMT slave after it has booted (factory setting
"Pre-operational").
Bootup protocol COB ID = 700 hex + node ID
1 data byte with the value 0 is transmitted.
NMT state after power up
Using parameter p8684, set the state that the inverter goes into after powering up:
● p8684 = 4
● p8684 = 5
● p8684 = 127 Pre-Operational (factory setting)
Node Control Service
The Node Control Services control state transitions
● 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 inverter, 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 inverter resets all the
objects (1000 hex - 9FFF hex) to the state that was present after "Power On".
● Reset Communication:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Communication command is issued, the inverter resets all
the communication objects (1000 hex - 1FFF hex) to the state that was present after
"Power On".
Command specifier and node_ID indicate the transition states and addressed nodes.
Error Control Service
"Node Guarding / Life Guarding" or "Heartbeat" monitor communication.
Setting options and default settings.
164
Stopped
Operational
Setting the monitoring of the communication (Page 196)
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
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