Baumer G0-GB-GXP5W/S/H-GXU5W/S - Manual (Page 12)

Manual_G0-GB-GXP5-GXU5_406_EN.docx 12/48 Baumer IVO GmbH & Co. KG
20.11.12 Villingen-Schwenningen, Germany
3.3.6. Network management services
Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.
Description of the NMT command
The commands are transmitted as unconfirmed objects and are structured as follows:
Byte 0 Byte 1 Byte 2
COB ID = 0 Command byte Node number
The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte Description In state event drawing
01h Start remote node 1
02h Stop remote node 2
80h Enter pre-operational mode 3
81h, 82h Reset remote node 4, 5
The node number corresponds to the node ID of the required users. With node number = 0, all users are
addressed.
NMT state event
Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be
read and written. In order to request PDO parameters, the encoder must first be moved to the operational
mode status.
Power on or hardware reset
Init
Pre-Operational
Operational
Stopped/Prepared
Power on oder Hardware Reset
1 3
2
1
3
2
4/5
BootUp Message
4/5
4/5