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ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
Annex
CANopen tables
427
13.4.4
Network management (NMT)
Network management commands ............................................................................................ 427
NMT state.................................................................................................................................. 427
9974
Network management commands
9962
With the following network management commands the user can influence the operating mode of
individual or all CAN participants. Structure:
Byte 1
Byte 2
Byte 2
COB ID
command
node ID
Node ID = 00
command valid for all nodes in the network at the same time
COB ID
NMT command
Description
00 01
16
= 01
10
node ID
start_remode_node
start CAN participate
00 02
16
= 02
10
node ID
stop_remode_node
stop CAN participate
00 80
16
= 128
10
node ID
enter_pre-operational
switch to pre-operational
00 81
16
= 129
10
node ID
reset node
reset CAN participate
00 82
16
= 130
10
node ID
reset communication
reset CAN communication
NMT state
9963
The status byte informs about the state of the CAN participant.
Graphics: state transitions under CANopen
Permitted transitions:
(1) State is automatically reached at power
on
(2) Internal initialisation completed – node
automatically goes to PRE-OPERATIONAL
(3) NMT service "Start Remote Node
Indication"
(4) + (7) NMT service "Enter PRE-
OPERATIONAL Indication"
(5) + (8) NMT service "Stop Remote Node
Indication"
(6) NMT service "Start Remote Node
Indication"
(9)...(11) NMT service "Reset Node
Indication"
(12)...(14) NMT service "Reset
Communication Indication"