Network Management (Nmt) - Vacon NX OPTC6 User Manual

nx interface
7.2

Network Management (NMT)

The CanOpen network management is node-oriented and follows a master/slave structure. It
requires one device in the network, which fulfills the function of the NMT master. The other nodes are
NMT slaves.
The CanOpen NMT slave devices implement a state machine, see picture below. After power on a
node initialises and transits to the "Pre-operational State". In this state communication across SDO
channels is possible for node configuration, but not yet across PDOs. With the NMT message "Start
Remote Node", a selected or any nodes on the network can be set into the "Operational State". In this
state, also the exchange of data by means of PDOs is possible. With enabling the operation of all
nodes of a network at the same time, a co-ordinated operation of the communicating system is
secured (DS301).
To Set Vacon CanOpen Option board to the "Operational State" the following message must be sent:
Message: Start_Remote_Node
Master to Slave (1)
Header
ID RTR Len
0000 0
Function of the internal state machine:
Power
On
5
Change Message / Event
1 Start Remote Node
2 Stop Remote Node
3 Enter Pre-operational State
4 Reset Node
5 Reset Communication
6 Initialisation finished
24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com
1 = CS 2 = Node ID
2 01 01
Initialization
6
Pre-Operational
1 3
Operational
Data
3 4 5
4
2 3
Prepared
1
2
Command Specifier (CS)
CS = 1
CS = 2
CS = 128
CS = 129
CS = 130
Automatic
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6 7 8
7