Further Canopen Functions; Network Management (Nmt Service) - Siemens SINAMICS G120 Operating Instructions Manual

Figure 8-18 PDO mapping for control word and speed setpoint
8.5.4

Further CANopen functions

8.5.4.1

Network management (NMT service)

Network management (NMT) is node-oriented and has a master-slave topology.
The NMT services can be used to initialize, start, monitor, reset, or stop nodes. Two data
bytes follow each NMT service. All NMT services have the COB ID = 0. This cannot be
changed.
The SINAMICS converter is an NMT slave and can adopt the following states in CANopen:
● Initializing
● Pre-Operational
SINAMICS G120C frequency converter
Operating Instructions, 03/2012, FW V4.5, A5E02999804B AB
The converter passes through this state after Power On. In the factory setting, the
converter then enters the "Pre-Operational" state, which also corresponds to the
CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into
the "Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
In this state, the node cannot process any process data (PDO). It can, however, be
parameterized or operated via SDOs, which means that you can also enter setpoints via
SDO.
Configuring the fieldbus
8.5 Communication via CANopen
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