Isel IMD1, Руководство пользователя

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Positioning module UVE8112, IMD10 CanOpen
protocol
Network management - NMT
agement adm s the co a tions ticipants in the
CanOpen network. Here, a master-slave configuration is taken as a basis, in which an NMT master
n ols a r pa icipants NMT laves).
Status changes of individual or all NMT slaves (Start, Stop, Reset...) are triggered by an NMT object
th C 0. T s e T ster and al o data
te he a o eterm g
e sam time
The network man inister mmunic tion’s basic func of the par
co tr nd regulates the state of all othe rt ( s
wi the an identifier 0x00 his object is ent by th NM ma ways possesses tw
by
data byte defines, if all slaves are addressed at t s. T first byte contains command c de d
h
inin
e
the state of the
or if individua
NMT slave. The second
l nodes only are used.
CS
ID = 0x000
NMT Master
NMT Slave
2 data bytes
NMT Object
NMT command
0
All nodes receive the NMT
1 - 127
command.
.....
NMT Slave
Recipient
Node ID
dic d
receives the NMT com
Only the in ated no e
mand.
Com nd S) of the NM
CS Meaning
ma code (C T object
0x0 e“ th ratio stat 1 “Start Remote Nod Activate e Ope nal e
0x02 “Stop Remote Node“ Activate the Stopped state
0x80 “Enter Pre-Operational“ Activate the Pre-Operational state
0x8 Node“ set of al te 1 “Reset Re l parame rs and restart
0x82 “Reset Communication“ Reset of the communications parameters and restart
Exa le:
in l n the Operat
mp
Br g al odes into ional state
0x01
ID CS
0x00 NM NMT Slaves T ster
an internal state machine which consists of four states and
n ols th f the node. T sta s transitions
events or by the receipt of NMT objects.
Ma
Status diagram
Every CanOpen participant disposes of
co tr
e communication behaviour o he tu are triggered by internal
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