Control From Canopen Network; Nmt State Machine; Sdo Communication - Toshiba TOSVERT VF-S15 Series Manual

7. Control from CANopen Network

7.1. NMT state machine

Below figure describes NMT state machine.
5
5
State
No.
1 Start Remote Node
2 Stop Remote Node
3 Enter Pre-Operational State
4 Reset Node
5 Reset Communication
Device initialization finished,
enter Pre-Operational state
6
automatically,
send Boot-up message

7.2. SDO communication

Using SDO (Service Data Object) communication, the drive parameters and CANopen object data can be
read or wrote. When write Communication profile data, please confirm the NMT state machine is
Pre-Operational state.
NMT State
Stopped
Initializing
Pre-Operational
Operational
*1: Write access is depending on each parameter.
Power-on
Initializing
6
Pre-Operational
2
1
5
1
3
Operational
NMT Service
Communication
Profile
0x1000 ~ 0x1FFF
---
---
Read / Write
Read
4
3
Stopped
2
4
COB-ID RTR DLC
0x000 0
0x000 0
0x000 0
0x000 0
0x000 0
0x700+
0
Node-ID
SDO
Manufacturer Standard Device
Specific Profile
0x2000 ~ 0x5FFF 0x6000 ~ 0x9FFF
---
---
Read / Write *1
Read / Write *1
- 34 -
E6581911
4
Data0 Data1
2 0x01 Node-ID
2 0x02 Node-ID
2 0x80 Node-ID
2 0x81 Node-ID
2 0x82 Node-ID
1 0x00 0x00,...,0x00
Profile
---
---
Read / Write
Read / Write Read / Write
Data2 ~ 7
0x00,...,0x00
0x00,...,0x00
0x00,...,0x00
0x00,...,0x00
0x00,...,0x00
PDO
---
---
---