Lenze I/O system 1000 System Manual - Manual (Page 252)

CANopen communication
Network management (NMT)
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252 EDSIO1000 EN 7.0
8.2 Network management (NMT)
Via the network management, the master can change a communication status for the
whole CAN network.
Communication phases
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"
(before ready for operation) The I/O system can receive parameter data.
The process data are ignored.
"Operational"
(Ready for operation) 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").
Telegram structure
Identifier User data
Value = 0
11 bit
Only contains command
2 byte
Fig. 8−2 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!
Only a change to "Operational" status enables communication via the process
data!
Example:
If all nodes connected to the bus are to be switched from the
"Pre−Operational" communication status to the "Operational" communication
status via the CAN master, the identifier and the user data must have the
following values in the transmission telegram:
ƒ Identifier: 0x00 (broadcast telegram)
ƒ User data: 0x0100