Network Management; Canopen ® Boot-Up Procedure And Nmt States - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.8

Network Management

The NMT provides services for controlling the network behaviour of CANopen
devices of a network referred to as NMT slaves are controlled by services provided by an NMT master. The
NMT master is typically also the Application master at the same time, but it is not necessary.
The FX -CAN supports the master functions NMT startup master, Flying master, Configuration manager,
3U
SYNC producer, TIME producer and LSS master which are described in the sections before and below.
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5.8.1 CANopen
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CANopen devices shift to the NMT state Pre-operational directly after finishing device initialization. In this
NMT state, CANopen
tool) is possible. Then the CANopen
NMT state Operational.
State Change
1
2
3
4, 7
5, 8
6
9
1. NMT state Pre-operational
In the NMT state Pre-operational, communication via SDO is possible. PDO communication is not allowed.
Configuration of PDO, parameters and also the allocation of application objects (PDO mapping) may be
performed by a configuration application. The CANopen
Operational directly by sending the NMT service start remote node.
2. NMT state Operational
In the NMT state Operational, all communication objects are active.
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Boot-Up Procedure and NMT states
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device parameterization and CAN-ID-allocation via SDO (e.g. using a configuration
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devices may be switched directly or by the NMT startup master into the
Power on
1
Initialization
2
Pre-Operational
3
Operational
At Power on, shifts to the NMT state initialization automatically.
After the NMT state initialization finishes, shifts to the "NMT state Pre-operational" automatically and
sends a Boot-Up message
NMT service start remote node indication
NMT service enter pre-operational indication
NMT service stop remote node indication
NMT service start remote node indication
NMT service reset node indication or reset communication indication
9
7
5
4
Stopped
6
8
Description
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device may be switched into the NMT state
5 Introduction of Functions
5.8 Network Management
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devices. All CANopen
→ Refer to Subsection 5.8.2
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