Mitsubishi Electric FX3U-CAN, User Manual

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5 Introduction of Functions
5.8 Network Management
73
FX
3U
-CAN User's Manual
1
Introduc
tion
2
Specifi
cations
3
Inst
allati
on
4
Wi
rin
g
5
Introduc
tion of
Functions
6
All
ocation of
B
uff
er
Memor
ies
7
Interface and D
evice P
rofile
(40
5 mode)
8
Lift Appl
icati
on
P
ro
file
(417 M
ode)
9
CAN
Layer 2
Mode
10
Comm
and
Interface
3. NMT state Stopped
By switching a CANopen
®
device into the NMT state Stopped, it is forced to stop all communication.
Furthermore, this NMT state may be used to achieve certain application behaviour.
4. NMT States and communication object relation
The relation between NMT states and communication objects is shown in the following table. Services in the
listed communication objects may only be executed if the CANopen
®
devices involved in the communication
are in the appropriate NMT states.
In case of trying to send a communication object which is not allowed in the specific NMT state, no error
information will be displayed.
5.8.2 Protocol Boot-Up
This protocol is used to signal that a NMT slave has switched to the NMT state Pre-operational after the NMT
state Initialization. The protocol uses the same CAN-ID as the error control protocols.
One data byte is transmitted with value 0.
5.8.3 Protocol NMT (Node control)
This Protocol is used by the NMT Master to control the NMT state of remote Nodes. Producing is allowed only
by the NMT Master.
If the module is the active NMT master, the module is ignoring NMT messages with the Node-ID 0 (All Nodes).
Pre-operational Operational Stopped
PDO - -
SDO -
SYNC -
EMCY -
TIME -
Node control and error control
Command specifier (1 byte) Node-ID (1 byte)
1 Start 0 All Nodes
2 Stop 1 to 127 Selected Node
128 Pre-Operational
129 Reset Application
130 Reset Communication
CAN-ID = 1792 + Node-ID
Request
Boot-up consumers Boot-up producer
Indication
0
Node-ID
Command
specifier
Request
NMT Slaves
CAN-ID = 0
NMT Master
Indication
Indication
Indication