Manual VIPA System 100V
Chapter 2 Decentral block periphery CAN-Bus CANopen
HB100E - SM-CAN - Rev. 15/02
2-41
NMT - Network Management
The network management (NMT) specifies global services for network
monitoring and management. Together with the login and logout of single
participants this also includes the control of the participants during
operation and the handling of exceptions.
NMT-Service-Telegrams have the COB identifier 0x0000. An additive
module-ID is not necessary. The length is always 2 data bytes.
The 1. data byte contains the NMT-Command Specifier:
CS
The 2. data byte contains the module-ID (0x00 for a broadcast command).
The following illustration gives an overview over all CANopen status
transitions and the concerning NMT command specifier "CS":
Initialize
Communication
Initialize
Hardware
Pre-Operation
Prepared
Operational
(12)
(12)
(7)
(6)
(6)
(10)
(11)
(7)
(10)
(11)
(8)
(10)
(11)
(8)
(1)
Power On
(1): The initialization state is reached
automatically at power-on.
(6): "Start_Remote_Node" (CS:0x01)
Starts module, releases outputs and
starts transmission of PDOs.
(7): "Stop_Remote_Node" (CS:0x02)
Outputs are switching in error state and
SDO and PDO are switched off.
(8): "Enter_Pre-operational_State"(CS:0x80)
Stops PDO transmission, SDO still
active.
(10): "Reset_Node" (CS:0x81)
Executes reset. All objects are set back
to Power-On defaults.
(11): "Reset_Communication" (CS:0x82)
Executes reset of the communication
functions. Objects 0x1000 - 0x1FFF are
set back to Power-On defaults.
(12):
After initialization the state pre-
operational is reached automatically - the
boot-up message is sent.
