IK360 -CAN
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Date: 23.01.2017 Page 7 of 41 Art.no. 86089 Mod. Status 10/17
COB-ID (Communication Object Identifier)
Each CANopen frame starts with a COB-ID working as the identifier in the CAN frame.
Duringthe configuration phase each node receives the COB-ID(s) of the frame(s), for which it is
the provider (or consumer).
The NMT protocols are used to issue state machine change commands (i. e. to start and stop
the devices), detect remote device boot ups and error conditions.
NMT (Network Management Protocol)
3.1
Operating modes
3.1.1
Mode: Preoperational
When the device is in this state, its configuration can be modified. However, only SDOs can be
used to read or write device-related data.
The device goes into "Pre-Operational" state:
after the power up or
on receiving the "Enter Pre-Operational" NMT indication, if it was in operational state.
When configuration is complete, the device goes into one of the following states on receiving
the corresponding indication:
"Stopped" on receiving the "Stop Remote Node" NMT indication
"Operational" on receiving the "Start Remote Node" NMT indication.
To set one or all nodes to pre-operational mode, the master must send the following message:
Identifier
Byte 0
Byte 1
Description
0h
80h
00
NMT: Pre-operational Mode, all nodes
0h
80h
NN (in hex)
NMT: Pre-operational Mode, NN
NN: node number
3.1.2
Mode: Start Operational
The device goes into the "Operational" state, if it was in the "Pre-Operational" state on receiving
the "Start Remote Node" indication. When the CANopen network is started using the "Node
start" NMT services in "Operational" state, all device functionalities can be used.
Communication is possible by PDOs or SDOs.
Note: Modifications to the configuration in "Operational" mode may have unexpected
consequences and should therefore only made in "Pre-Operational" mode.
To put one or all nodes in the operational state, the master has to send the following message:
Identifier
Byte 0
Byte 1
Description
0h
01h
00h
NMT: Start Remote Node, all nodes
0h
01h
NN (in hex)
NMT: Start Remote Node, NN
NN: node number