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Temposonics
®
TH CANbus ATEX / IECEx / CEC / NEC / KCs / EAC Ex certified / Japanese approval
Operation Manual
5.5 CANopen Network Management (NMT)
The following description is part of the CANopen communication profile DS 301.
(1)
After power on or hardware reset the
initialization state is entered autonomously
(2)
Initialization finished –
enter pre-operational automatically
(3), (6)
Start remote node indication
(4), (7)
Enter pre-operational state indication
(5), (8)
Stop remote node indication
(9), (10), (11)
Reset node indication
(12), (13), (14)
Reset communication indication
COB-ID
Request /
Respond
DLC
Data
Description
D0
D1
0x000
Rx
2
Command
Address
0x01
Start remote node (3), (6):
Through this service the NMT master sets the state of the selected NMT slave(s) to “operational”.
0x02
Stop remote node (5), (8):
Through this service the NMT master sets the state of the selected NMT slave(s) to “stopped”.
0x80
Enter pre-operational state (4), (7):
Through this service the NMT master sets the state of the selected NMT slave(s) to “pre-operational”.
0x81
Reset node (9), (10), (11):
Through this service the NMT master sets the state of the selected NMT slave(s) from any state to the
“reset application” sub-state.
0x82
Reset communication (12), (13), (14):
Through this service the NMT master sets the state of the selected NMT slave(s) from any state to the “reset commu-
nication” sub-state. After completion of the service, the state of the selected remote nodes will reset communication.
0x00
Set 0x00 for all devices (global mode)
Node-ID
Set node-ID (0x01…0x7F) for a specific device
Table 3: Description of NMT commands
Fig. 26: CANopen state machine
Power on or Hardware Reset
Initialization
Pre-Operational
Operational
(1)
(2)
(14)
(13)
(12)
(3)
(4)
(5)
(6)
(8)
(9)
(10)
(11)
(7)
Stopped
