HD1-E CANopen instruction manual
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7.3 NMT
The function is available for NMT when master station controls slave station node.
⚫
Command
Master station
→slave station
COB-ID
Byte 0
Byte1
0x000
Command word (CS)
Node-ID (Node identity)
⚫
Instruction
COB-ID is fixed as 0x00. If Node-ID =0, broadcast the command to all CANopen slave stations, each slave station must execute NMT
command. See the functions of command words (CS) in Table 9.
Table 9 Functions of command words
NMT Command word (CS)
NMT service (control action)
0x01
Start slave station devices
0x02
Stop slave station devices
0x80
Enable slave station into pre-operation
0x81
Reset slave station
0x82
Reset node communication
⚫
Example
Enable HD1-E-COP of node ID=3 into per-operation. The command is shown as follows:
COB-ID
Byte0
Byte1
0x000
0x80
0x03
Start all HD1-E-COP nodes in CANopen network. The command is shown as follows:
COB-ID
Byte0
Byte1
0x000
0x01
0x00
7.4 NMT node guarding
By node guarding, NMT main node can detect the current state of each node.
⚫
Command
Request: master station (remote frame)
→
slave station
COB-ID
No data
0x700 + Node-ID
Response: slave station
→master station
COB-ID
Byte0 (state value)
0x700 + Node-ID
Bit7: trigger bit, Bit0~Bit6 state
⚫
Instruction
The highest bit7 of Byte0 (state value) for response command is the trigger bit; that is to say, 0 and 1 will alternate for the response to
show the differences of frames when the slave station sends out a frame. Bit0~Bit6 are the states of the slave station, as shown in
Table10:
Table10 Node guarding state value
State value
(Byte0: Bit0~Bit6)
State
0x00
Initializing
0x04
Stopped
0x05
Operational
0x7F
Pre-operational
⚫
Example
The master station will detect the state of slave station3, as shown below:
Master station (remote frame)
→
slave station
COB-ID
No data
0x703
The slave station will respond as follows after receiving power saving command from the master station.
COB-ID
Byte0 (state value)
0x703
0x85
If Bit7=1 and state=0x05, node 3 slave station is in operation. If the slave station receives a node guarding command, it will respond a
command of 0x05 state value to the master station because Bit7 of Byte0 alternates into 0.
