Baumer GNAMG - Manual (Page 36)

Manual_GNAMG_CANopen_EN.doc 36/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
5.3. Operation
NMT states
After init the inclination sensor is in Pre-Operational Mode which is the state for reading and writing SDOs.
To start PDO communication NMT-Start must be transmitted to switch the inclination sensor to Operational
Mode. Now the required PDO's are transmitted. Now there is also read and write access to SDOs.
Upon stopping the inclination sensor by NMT-Stop it will got to Stopped Mode. This state is only for NMT
communication including Heartbeat.
NMT-Reset means re-init of the inclination sensor that now will be in Pre-Operational Mode again .
The NMT state is indicated by LED (refer to chapter Status LED)
Setting the Heartbeat Time
For guarding the communication capability a „Producer Hearbeat Time“ must be defined in object 1017h. The
service will be utilized upon confirmation of the parameter. Example: Every 100 ms the inclination sensor shall
transmit a heartbeat (100 = 64h):
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1
600h+Node-ID 8 2Bh 17h 10h 0h 64h 0h
Confirmation:
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1
580h+Node-ID 8 60h 17h 10h 0h 0 0
COB-ID Data/ Remote Byte 0
701h d 7Fh
Hearbeat messages comprise COB-ID and one byte, latter is transmitting the NMT state.
0: BootUp-Event
4: Stopped
5: Operational
127: Pre-Operational
i.e. the inclination sensor is in pre-operational mode (7Fh = 127).