Jetter JXM-HMI, User Manual

Page: 14 / 22

Jetter AG Programming | 7
JXM-HMI User Manual 14 / 22
7 Programming
7.1 Device status
Status Condition Features
Bootloader PRE-OPERATIONAL
No firmware present ■ Information SDOs are accessible
■ Firmware update possible
■ Heartbeat
OPERATIONAL
Firmware successfully started ■ All SDOs are accessible
■ Heartbeat
Tab. 10: Device status
7.2 Setting the node ID
The default node ID of the JXM-HMI is 0x11 hexadecimal. The node ID can be
changed by SDO via the
System parameters [
}
17] .
7.3 CAN identifier
Message type Description CAN identifiers
NMT Network Management Telegram 0x000
SDO TX Service Data Object receive 0x580 + node ID
SDO RX Service Data Object send 0x600 + node ID
TXPDO1 Process Data Object send 0x180 + node ID
RXPDO1 Process Data Object receive 0x200 + node ID
EMCY Emergency message 0x80 + node ID
Error control Error Control Protocol (Heartbeat) 0x700 + node ID
Tab. 11: CAN identifiers
7.4 CAN communication
7.4.1 NMT commands
The JXM-HMI changes into OPERATIONAL mode immediately after switching
on. The following NMT commands are supported:
NMT commands Description
Reset Node The node is reloaded and all settings are set to
their default values.
Tab. 12: NMT commands
7.4.2 Heartbeat
The device sends a heartbeat message in a 1 s cycle. If the heartbeat is not
transmitted within 3 s, the HMI is not active.
Description Byte 0
BOOTUP CMD 0
OPERATIONAL CMD 5
PRE-OPERATIONAL CMD 127
Tab. 13: Index of the heartbeat message