D.8 Network Management Nmt (Network Management) - Festo EMCA-EC-67 Series Translation Of The Original Instructions

D CANopen communication
D.8 Network management NMT (Network management)
All CAN-bus participants can be triggered via the Network Management (NMT). The CAN identifier (CAN-
ID) with the highest priority (000
or all CAN-bus participants. Each command consists of 2 bytes, whereby the first byte contains the
command code (command specifier, (CS)) and the second byte the node number (node ID (NI)) of the
addressed CAN-bus participant. Through the node ID 0, all CAN-bus nodes (Broadcast) of the CAN-bus
network can be addressed simultaneously. It is thus possible, for example, that a reset is triggered in all
CAN-bus participants simultaneously. The NMT commands are not acknowledged through the CAN-bus
participants. Successful completion of the reset can only be determined indirectly, e.g. through the
switch-on message after a reset.
CAN-ID
Data length
000 2
h
7xx 1/R
h
Data length /remote bit (R)
Fig. D.9 Structure: NMT message
Messages for the NMT operation
The following messages are implemented for the NMT operation:
CAN-ID CS
(hex)
000 1
h h
2
h
80
h
81
h
82
h
701 ... 77F
h h
Tab. D.28 Messages for the NMT operation
260
) is reserved for this. By means of NMT, commands can be sent to one
h
Command code
Node ID
0 = all CAN bus participants
1 ... 127 = one CAN bus participant
CS NI
...
Boot-up message identifier/toggle bit/NMT status
Name (Name)
(dec)
1 Start remote node
2 Stop remote node
128 Enter pre-operational
129 Reset node
130 Reset communication
Boot-up message (Boot-up message)
Node monitoring (Node guarding)
Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English
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