Vacon CANopen OPTE6, Руководство пользователя

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CANopen protocol description vacon • 9
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3
3. CAN
OPEN PROTOCOL DESCRIPTION
3.1 NMT
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 1. NMT state machine
1 = When the power is on, the NMT state is entered autonomously
2= The NMT state initialisation is finished, the NMT pre-operational state is entered
automatically
3 = NMT service starts with remote node indication or by local control
4 and 7 = NMT service enters pre-operational indication
5 and 8 = NMT service stops remote node indication
6 = NMT service starts remote node indication
9, 10 and 11 = NMT resets node indication
12, 13 and 14 = Indication of NMT service reset communication
Boot-up protocol
After a node starts, it will enter automatically into the pre-operational state. Always when this
transition occurs, a boot-up message is sent into the bus.
Table 1: Boot-up message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x700 +
Node ID
1 0
(1)
(2) (11)
(4) (5) (10)
(7)
(3)
(14)
(13)
(12) (8) (9)
Power on or hardware reset
Pre-operational
Initialisation
Operational
Stopped
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