Configuring the fieldbus
6.3 Communication over CANopen
Frequency inverters with Control Units CU230P-2 HVAC, CU230P-2 DP, CU230P-2 CAN
Operating Instructions, 01/2011, FW 4.4, A5E02430659B AD
167
6.3.3
Other CANopen functions
6.3.3.1
Network management (NMT service)
Network management (NMT) is node-oriented and has a master-slave topology.
The NMT services can be used to initialize, start, monitor, reset, or stop nodes. Two data
bytes follow each NMT service. All NMT services have the COB ID = 0. This cannot be
changed.
The SINAMICS converter is an NMT slave and can adopt the following states in CANopen:
●
Initializing
The converter passes through this state after Power On. In the factory setting, the
converter then enters the "Pre-Operational" state, which also corresponds to the
CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into
the "Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
●
Pre-Operational
In this state, the node cannot process any process data (PDO). It can, however, be
parameterized or operated via SDOs, which means that you can also enter setpoints via
SDO.
●
Operational
In this state, the node can process both SDO and PDO.
●
Stopped
In this state, the node cannot process either PDO or SDO. The Stopped mode is exited
by specifying one of the following commands:
–
Enter Pre-Operational
–
Start Remote Node
–
Reset Node
–
Reset Communication
Summary of Contents for SINAMICS G120 CU230P-2
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