2 APPENDIX
2.1 CC-Link IE TSN
17
2
The state transition diagram of the NMT state machine is as follows.
The servo amplifier transitions the communication state by receiving the SLMP command (NMT State Download) from the
master station or by other means.
The controller and the servo amplifier perform the following procedure to establish communication (transition to
"Operational").
■
SLMP command
The SLMP commands used in communication state management are as follows.
Transition No.
Operation
(1)
Power-on
(2)
During the transition from the initialization phase to the control communication phase of CC-Link IE TSN, the servo amplifier transitions
from "Init" to "Pre-Operational".
(3)
When the master station issues NMT State Download (SLMP) for "Init" to the servo amplifier, or when a communication time-out occurs,
the servo amplifier transitions from "Pre-Operational" to "Init".
(4)
When the master station issues NMT State Download (SLMP) for "Safe-Operational" to the servo amplifier, the servo amplifier
transitions to "Safe-Operational". The master station performs control mode setting and PDO mapping setting on the servo amplifier.
(5)
When the master station issues NMT State Download (SLMP) for "Operational" to the servo amplifier, the servo amplifier transitions to
"Operational". When PDO mapping setting is not performed on the servo amplifier, the state transitions on this route.
(6)
When the master station issues NMT State Download (SLMP) for "Init" to the servo amplifier, or when a communication time-out occurs,
the servo amplifier transitions from "Safe-Operational" to "Init".
(7)
When the master station issues NMT State Download (SLMP) for "Pre-Operational" to the servo amplifier, the servo amplifier transitions
to "Pre-Operational". The servo motor becomes operable.
(8)
When the master station issues NMT State Download (SLMP) for "Operational" to the servo amplifier, the servo amplifier transitions to
"Operational".
(9)
When the master station issues NMT State Download (SLMP) for "Init" to the servo amplifier, or when a communication time-out occurs,
the servo amplifier transitions from "Operational" to "Init".
(10)
When the master station issues NMT State Download (SLMP) for "Pre-Operational" to the servo amplifier, the servo amplifier transitions
to "Pre-Operational".
(11)
When the master station issues NMT State Download (SLMP) for "Safe-Operational" to the servo amplifier, the servo amplifier
transitions to "Safe-Operational".
No.
Command name
Command
Sub command
Description
1
NMT State Upload
4020h
0007h
NMT State reading
2
NMT State Download
4020h
0008h
NMT State writing
Pre-Operational
Safe-Operational
Init
Operational
(1)
(3)
(2)
(4)
(5)
(7)
(8)
(11)
(6)
(9)
(10)
Initialization
phase
Under control
communication
phase
