Lenze E94AYCCA - Manual (Page 42)

E94AYCCA communication manual (CANopen®)
Data transfer
Communication phases / network management
42
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EDS94AYCCA EN 5.0 - 06/2012
7.2.1 State transitions
[7-2] NMT state transitions in the CAN network













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Transition NMT command State after
change
Effect on process and parameter data after state change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During initialisation, the controller does not take part in
the data transfer.
• After initialisation has been 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 the communication.
 From here, the states are changed over by the master for the entire network.
• A target address contained in the NMT command specifies the receiver(s).
• If the 9400 controller has been configured as a CAN master, the state automatically changes to
"operational" after a waiting time ( C13378 / C14378 ) has expired, and the NMT command
0x0100 ("Start remote node") is sent to all nodes.
• Data can only be exchanged via process data objects if the state is "Operational".
(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 (DS301, V4.02)
with the stored values.
(12), (13), (14) 0x82 xx
Reset communication
Initialisation of all CAN-relevant parameters (DS301, V4.02)
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 state can be changed for all nodes at the same time.
• xx = Node-ID: If a node address is indicated, the state will only be changed for the node
addressed.