Lenze E94ARNE Regenerative power supply - Manual (Page 108)

9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Communication phases/network management
108
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6.5.1 State transitions
[6-4] NMT state transitions in the CAN network













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Transition NMT command State after
change
Effects on process and parameter data after state change
(1) - Initialisation Initialisation starts automatically when the power is
switched on.
• During initialisation, the device does not take part in the
data transfer.
• After initialisation has been completed, the node sends a
boot-up message with its own identifier and
automatically changes to the "pre-operational" state.
(2) - Pre-operational In this phase, the master determines the way in which the
node(s) takes/take part in the communication.
 From that moment on, the master changes the states for the whole network.
• A target address, which is part of the NMT command, specifies the receiver(s).
• If the regenerative power supply module has been configured to be a CAN master, the state
automatically changes to "operational" after the delay time ( C00378 ) has elapsed, and the NMT
command 0x0100 ("start remote node") is sent to all nodes.
• Data exchange via process data objects is only possible in the "operational" state!
(3), (6) 0x01 xx
Start remote node
Operational Network management, sync and emergency telegrams as
well as process data (PDO) and parameter data (SDO) are
active.
Optional: When the state is changed, event and time-
controlled process data (PDOs) will be sent once.
(4), (7) 0x80 xx
Enter pre-operational
Pre-operational Network management, sync and emergency telegrams as
well as 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 Initialisation of all CAN-relevant parameters (CiA DS 301)
with the stored values.
(12), (13), (14) 0x82 xx
Reset communication
Initialisation of all CAN-relevant parameters (CiA DS 301)
with the stored values.
 Meaning of the node address in the NMT command:
• xx = 0x00: With this assignment, all nodes are addressed by the telegram (broadcast telegram).
The states of all nodes can be changed at the same time.
• xx = node ID: If a node address is indicated, the state will only be changed for the addressed node.