Lenze 9400 - Manual (Page 303)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
303
9 "CAN on board" system bus
9.5 Communication phases/network management
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9.5.1 State transitions
[9-4] NMT state transitions in the CAN network













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Transition NMT command Status after
change
Effect on process or parameter data after state change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During initialisation, the controller is not involved in the
data exchange.
• After the initialisation is completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "pre-operational" status.
(2) - Pre-operational In this phase, the master determines the way in which the
node(s) takes/take part in communication.
 From here, the master changes the statuses for the entire network.
• A target address included in the NMT command defines the receiver(s).
• If the 9400 controller has been configured as CAN master, the state automatically changes to
"Operational" after the waiting time has expired ( C00378 ) and the NMT command 0x0100
("Start Remote Node") is sent to all nodes.
• Data can only be exchanged via process data objects if the status is "Operational"!
(3), (6) 0x01 xx
Start remote node
Operational Network management/sync/emergency telegrams as well
as process data (PDO) and parameter data (SDO) are active.
Optional: When the status is changed, event and time-
controlled process data (PDOs) are transmitted once.
(4), (7) 0x80 xx
Enter Pre-Operational
Pre-operational Network management/sync/emergency telegrams and
parameter data (SDO) are active.
(5), (8) 0x02 xx
Stop remote node
Stopped Only network management telegrams can be received.
(9), (10), (11) 0x81 xx
Reset node
Initialisation All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.
(12), (13), (14) 0x82 xx
Reset communication
All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.
 Meaning of the node address in the NMT command:
• xx = 0x00: If this assignment is selected, the telegram addresses all nodes (broadcast telegram).
The status of all nodes can be changed at the same time.
• xx = Node ID: If a node address is specified, only the status of the node with the corresponding
address changes.