Lenze EPM−T9XX Modular system - Manual (Page 215)

Network management (NMT)
9
Network via CANopen
9.2
L
9.2−1 EDSPM−TXXX−9.0−11/2009
9.2 Network management (NMT)
Via the network management, the master can change a communication status for
the whole CAN network.
Status Explanation
"Initialisation" Initialisation starts when the I/O system is switched on. In this phase, the I/O
system does not take part in the bus data transfer.
Furthermore it is in each NMT status possible to restart the entire initialisation or
parts of it by transferring different telegrams (see "Status transitions"). All
parameters already set are overwritten with their standard values.
After initialisation has been completed, the I/O system is automatically set to the
status "Pre−operational".
"Pre−Operational"
The I/O system can receive parameter data.
Process data are ignored.
"Operational" The I/O system can receive parameter and process data.
"Stopped" Parameter and process data cannot be received. Network management telegrams
can be received.
The module outputs switch to the configured status (see chapter "Monitoring").
Identifier User data
Value = 0
11 bit
Only contains command
2 byte
Fig. 9.2−1 Telegram for changing the communication phase
The telegram used for network management contains an identifier and the
command which is part of the user data and consists of command byte and node
address.
Telegrams with the identifier 0 and two bytes user data are used to change
between the communication phases.
Only the network master (e.g. controller) can change a communication status for
the whole network.
)
Note!
Communication via process data only is possible with a state
change to operational"!
Example:
For changing the state of all nodes on the bus from
"pre−operational" to operational" via the CAN master, the
following identifier and user data must be set in the telegram:
l Identifier: 00 (broadcast telegram)
l User data: 0100 (hex)
Communication phases
Telegram structure