Eaton PowerXL Series, Руководство по связи

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CANopen External Communication Cards
POWERXL SERIES VFD MN040010EN—June 2018 www.eaton.com
Network management (NMT)
The CANopen network management is node-oriented and
follows a master/slave structure. It requires one device to
function as the NMT Master, the others are slaves.
The CANopen NMT slave devices implement state machine
tasks shown below. After power-up of a node, it will initialize
and transmit 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 node or all nodes
on the network can be set into the “Operational State.”
When the device is in this state, data exchange can be done
via PDOs.
NMT network management manages CANopen, and is a
mandatory, common feature for all devices. The protocol
describes several node control services and the state
machine.
Figure 47. NMT state machine
Ini aliza on
Pre-Opera onal
Opera onal
Stopped
(1)
Power on or hardware reset
(2)
(7)
(3)
(5)
(4)
(8)
(6)
(14)
(13)
(12)
(11)
(10)
(9)
1 = When the power is on, the NMT state is entered autonomously.
2 = The NMT state initialization is finished, the NMT pre-operational state is entered automatically.
3 = NMT service starts with remote node indication or by local control.
4 and 5 = NMT service enters pre-operational indication.
6 = NMT service starts remote node indication.
7 and 8 = NMT service stops remote node indication.
9, 10 and 11 = NMT resets node indication.
12, 13 and 14 = Indication of NMT service reset communication.