Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Network Management Functions
MELSEC-L Series – CANopen Module ME3CAN1-L 4 – 35
4.8 Network Management
NMT provides services for controlling the network behavior of CANopen devices. All CANopen
devices of a network referred to as NMT slaves are controlled by services provided by an NMT master.
The NMT master is usually but not necessarily the application master.
The ME3CAN1-L supports the following master functions:
– NMT start-up master
– Flying master
– Configuration manager
– SYNC producer
– TIME producer
– LSS master
4.8.1 CANopen boot-up procedure and NMT states
CANopen devices change to the NMT state Pre-operational directly after finishing device initializa-
tion. In this NMT state, CANopen device parameterization and CAN-ID-allocation via SDO (e.g. using
a configuration tool) is possible. Then the CANopen devices may be switched directly or by the NMT
start-up master into the NMT state Operational .
Fig. 4-25: NMT states
State change Description
Shift to the NMT state Initialization automatically at power on.
Shift to the NMT state Pre-operational automatically after the initialization finishes, and send a Boot-Up
message (refer to section 4.8.2)
NMT service start remote node indication
NMT service enter Pre-operational indication
NMT service stop remote node indication
NMT service start remote node indication
NMT service reset node indication or reset communication indication
Tab. 4-27: Description of fig. 4-25
Power ON
Initialization
Pre-operational
Stopped
Operational