Lenze E84DGFCC - Manual (Page 41)

EDS84DMOTCAN EN 3.0 - 11/2011
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41
Communication manual 8400 motec CANopen
Data transfer
Communication phases/network management
7.2.1 State transitions
[7-2] NMT state transitions in the CAN network













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Transition NMT command Status after
change
Effects on process/parameter data after status change
(1) - Initialisation Initialisation starts automatically at mains connection.
• 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 states for the entire network.
• A target address included in the NMT command defines the receiver(s).
• If the controller is configured as CAN master, the status is automatically changed to
"Operational" after a waiting time has expired ( C00356/1 ) and the command 0x0100 NMT
("Start Remote Node") is transmitted 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.