nx interface
vacon • 21
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7
7.2
Network Management (NMT)
The CanOpen network management is node-oriented and follows a master/slave structure. It
requires one device in the network, which fulfills the function of the NMT master. The other nodes are
NMT slaves.
The CanOpen NMT slave devices implement a state machine, see picture below. After power on a
node initialises and transits to the "Pre-operational State". In this state communication across SDO
channels is possible for node configuration, but not yet across PDOs. With the NMT message "Start
Remote Node”, a selected or any nodes on the network can be set into the "Operational State". In this
state, also the exchange of data by means of PDOs is possible. With enabling the operation of all
nodes of a network at the same time, a co-ordinated operation of the communicating system is
secured (DS301).
To Set Vacon CanOpen Option board to the "Operational State" the following message must be sent:
Message: Start_Remote_Node
Master to Slave (1)
Header
Data
ID
RTR
Len
1 =
CS
2 = Node ID
3
4
5
6
7
8
0000
0
2
01
01
Function of the internal state machine:
Change
Message / Event
Command Specifier (CS)
1
Start Remote Node
CS = 1
2
Stop Remote Node
CS = 2
3
Enter Pre-operational State
CS = 128
4
Reset Node
CS = 129
5
Reset Communication
CS = 130
6
Initialisation finished
Automatic
Initialization
Pre-Operational
Prepared
Operational
Power
On
6
4
5
1
3
2
3
1
2
