Siemens SINAMICS G110M Function Manual page 176

Communication over CANopen
6.1 Network management (NMT service)
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.
174
Setting the monitoring of the communication (Page 208)
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
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