Network Management (Nmt Service) - Siemens SINAMICS G110M Function Manual

Communication over CANopen

6.1 Network management (NMT service)

6.1 Network management (NMT service)
Network management (NMT) is node-oriented and has a master-slave topology.
A node is a master or a slave.
The inverter is an NMT slave, and can adopt the following states:
● Boot-up service
● Node Control Service COB ID = 0 (see CANopen state diagram)
services:
cia.org/index.php?id=specifications).
● Error Control Service COB-ID = 700 hex + Node-ID
CANopen state diagram
NMT states
The inverter state is displayed in p8685.
You can either change the inverter state via the control with an NMT telegram, using one of
the command specifiers listed below, or in the inverter itself using p8685.
● Initialization: p8685 = 0, Command specifier = 0
The inverter initializes itself after power on. In the factory setting, the inverter then enters
the "Pre-Operational" state, which also corresponds to the CANopen standard.
Using p8684, you can set that after the bus has booted, the inverter does not go into the
"Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
● Pre-Operational, p8685 = 127 (factory setting), Command specifier = 128
In this state, the node cannot process any process data (PDO). However, the controller
172
COB-ID = 700 hex + Node-ID
The transition between two states is realized using NMT services. Details on NMT
CiA 301 (Application Layer and Communication Profile) (http://www.can-
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Fieldbuses