INVT Goodrive390L Series User Manual page 90

Goodrive390L Series Lift-Dedicated VFD
State
transition
(5), (8) Command of the NMT master station for entering the stopped state
(9), (10), (11) Command of the NMT master station for resetting a remote node
Command of the NMT master station for resetting a remote node
(12), (13), (14)
communication parameter
Different services are supported in different states, as described in
Service
PDOs
SDOs
SYNC packets
Emergency packets
Network management
Error control
7.2.2.3 Management service command (NMT)
This function is used by the master station to control the NMT states of slave station
nodes. After powering on, this VFD is forced to enter the operating state.
Command

Master station -> slave station
COB-ID
0x000
Description

The command COB-ID is fixed to 0x00. If Node-ID is set to 0, the command is broadcasted
to all CANopen slave stations, and each slave station must execute the NMT command.
Table 7-4 describes the function of each CS.
NMT CS
0x01
0x02
0x80
0x81
0x82
202403 (V1.0）
Table 7-3 Services supported in various NMT states
Pre-operation state
No
Yes
Yes
Yes
Yes
Yes
Byte0
Command specifier (CS)
Table 7-4 Function of each CS
Enables a slave station to enter the pre-operation state.
Required triggering event
Operation state
NMT service (control action)
Starts a slave station device.
Stops a slave station device.
Resets a slave station.
Resets communication of a node.
Communication protocol
Table 7-3.
Stopped state
Yes
Yes
Yes
Yes
Yes
Yes
Byte1
Node-ID (node ID)
No
No
No
No
No
Yes
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