Mitsubishi Electric CANopen ME3CAN1-L, User Manual

Page: 108 / 188

Functions Network Management
4 – 42 MITSUBISHI ELECTRIC
4.8.6 NMT slave start-up
This setting is optional.
Depending on the setting, the NMT master shall start-up the NMT slave. In this case the NMT start-up
master uses the indexes 1F84
H
to 1F88
H
(refer to section 4.8.4) to identify the NMT slaves during boot-
up.
To check whether the NMT slave is available in the network, the NMT start-up master will request the
index 1000
H
of the NMT slave. If there is no response to this request, the NMT master will retry the
request after 1 s until the NMT slave responds to the request or until the boot time for mandatory slave
elapses without a response (refer to fig. 4-28).
The index 1F89
H
Boot time (refer to page 4–45) shall be set to a value higher than the maximum NMT
start-up time of the slowest mandatory slave. This time is measured from power-on/restart of the NMT
master until the point where the last mandatory slave gets to the NMT state
Operational .
If identification data of NMT slaves doesn't match to the setting in the NMT Master, the whole NMT
startup process will be stopped and the NMT start-up master will be disabled.
If the identification is successful, the configuration manager configures the NMT Slave at the time
when configuration data are stored in the NMT Master. (Refer to section 4.8.12)
Depending on the setting, the NMT master then sets the NMT slave into the NMT state Operational .
NOTE To get the CANopen network work properly, it is recommended to assign all CANopen devices
which are NMT slave to the NMT master.
Fig. 4-31: NMT Slave startup process (1)
OD Index
1F81
H
Bit 0
NMT Slave startup
process
OD Index
1F81
H
Bit 2
Node
is assigned
NMT Slave?
NMT Slave
shall be started by
NMT Master?
Yes
No
No
Yes
Request OD Index
1000
H
from
NMT Slave
Response received?
End boot-up with no
NMT Slave response
received
No
OD Index
1F84
H
NMT Slave
device type equal
or don’t care?
No
Yes
Yes
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