Siemens SINAMICS G120P, Operating Instructions Manual

Page: 259 / 496

Operation
6.9 Communication over CANopen
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
259
● Stopped
In this state, the node can process neither PDO nor SDO. The "Stopped" state terminates
one of the following commands:
–
Enter Pre-Operational
– Start Remote Node
– Reset Node
– Reset Communication
The NMT recognizes the following transitional states:
● Start Remote Node:
Command for switching from the "Pre-Operational" communication state to "Operational".
The drive can only send and receive process data (PDO) in "Operational" state.
● Stop Remote Node:
Command for switching from "Pre-Operational" or "Operational" to "Stopped". The node
only processes NMT commands in the "Stopped" state.
● Enter Pre-Operational:
Command for switching from "Operational" or "Stopped" to "Pre-Operational". In this
state, the node cannot process any process data (PDO). However, the controller can use
SDO parameters to change or operate the inverter, which means that you can also enter
setpoints via SDO.
● Reset Node:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Node command is issued, the inverter resets all the
objects (1000 hex - 9FFF hex) to the state that was present after "Power On".
● Reset Communication:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Communication command is issued, the inverter resets all
the communication objects (1000 hex - 1FFF hex) to the state that was present after
"Power On".