VIPA System 200V IM Series, Руководство пользователя

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Chapter 5 CANopen
Manual VIPA System 200V
5-102 HB97E - IM - Rev. 06/29
IM 253CAN - CANopen slave - NMT - network management
Network management (NMT) provides the global services specifications for
network supervision and management. This includes the login and logout
of the different network devices, the supervision of these devices as well as
the processing of exceptions.
NMT service messages have the COB identifier 0000h. An additional
module-ID is not required. The length is always 2 data bytes.
The 1
st
data byte contains the NMT command specifier:
CS
.
The 2
nd
data byte contains the module-ID (0x00 for broadcast command).
The following picture shows an overview over all CANopen status changes
and the corresponding NMT command specifiers:
Initialize
Communication
Initialize
Hardware
Pre-Operation
Prepared
Operational
(12)
(12)
(7)
(6)
(6)
(10)
(11)
(7)
(10)
(11)
(8)
(10)
(11)
(8)
(1)
Power On
(1): The initialization state is reached
automatically after start-up.
(6): "Start_Remote_Node" (CS: 0x01)
Starts the module, releases outputs and
starts the PDO transmission.
(7): "Stop_Remote_Node" (CS: 0x02)
Outputs are switching into error state,
SDO and PDO are switched off.
(8): "Enter_Pre-operational_State" (CS:0x80)
Stops PDO transmission, SDO still active.
(10): "Reset_Node" (CS:0x81)
Executes reset. All objects are set back to
PowerOn defaults.
(11): "Reset_Communication" (CS:0x82)
Executes reset of the communication
functions. Objects 0x1000 - 0x1FFF are
set back to PowerOn defaults.
(12): After initialization the state "pre-opera-
tional is automatically reached - here the
boot-up message is send.