Nmt - Network Management - Leuze electronic MSI 400 Series Manual

Object
Broadcast objects
Peer-to-peer objects
TxPDO4
RxPDO4
TxSDO
RxSDO
NMT-ErrorControl
Each object starts with a CAN identifier, followed by a RTR bit (remote transmission request), followed by a
data length code (DLC), followed by 0 to 8 data bytes. The DLC (4 bits) provides the number of data bytes.
10.4 NMT – network management
The broadcast object NMT is used to start, stop or initialize CANopen devices. A device in the CANopen
network must take on the role of the NMT master for this purpose. This is usually the PLC. All other devices
are regarded as NMT slaves. NMT services are broadcast services to which the slaves do not generate re-
sponses.
All NMT objects start with the CAN-ID 00h.
Broadcast service for an NMT slave with the address N:
Tab. 10.8: Network management for an NMT slave with the address N
CAN-ID DLC
00h 2
Broadcast service for all NMT slaves:
Tab. 10.9: Network management for all NMT slaves:
CAN-ID DLC
OP NMT command
00h 2
80h Go to "Pre-Operational"
01h Go to "Operational"
02h Go to "Prepared/Stopped"
81h Go to "Reset node"
Leuze electronic
CAN identifier
481h...4FFh
501h...57Fh
581h...5FFh
601h...67Fh
701h...77Fh
DATA
OP N
DATA
OP 0
MSI 400
Meaning
Send process data object 4
Receive process data object 4
Send service data project
Receive service data object
Node guarding
Explanation
After booting, an NMT slave will automatically go into the
pre-operational state. In this state,
communication via SDOs is permitted, but not via PDOs.
The NMT slave can be set to this state from another
state.
The operational state is reached from the "pre-opera-
tional" state. Communication via PDOs is possible in this
state and the CANopen slave responds to sync com-
mands.
Note: During the transition to the NMT operational state,
each slave sends a TxPDO with the transmission type =
255, so that the NMT master is informed about the current
input configuration.
Communication via SDO or PDO is not possible in this
state and the device also does not respond to sync com-
mands.
This will trigger a re-initialization of the CANopen function
in the NMT slave.
CANopen gateway
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