2 network management telegram (nmt), Network management telegram (nmt), E94aycca communication manual (canopen®) – Lenze E94AYCCA User Manual
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EDS94AYCCA EN 5.0 - 06/2012
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E94AYCCA communication manual (CANopen®)
Data transfer
Communication phases / network management
7.2.2
Network management telegram (NMT)
The telegram for the network management contains the identifier "0" and the command
included in the user data, which consists of the command byte and the node address.
[7-3]
Network management telegram for changing the communication phases
The changeover of the communication phases is carried out by one node, the CAN master,
for the entire network. The role of the CAN master can also assumed by the drive controller.
Parameterising the controller as a CAN master
Example:
Data can only be exchanged via the process data objects in the "Operational" state. To
change all nodes on the bus from "Pre-Operational" to "Operational" via the CAN master,
the following identifiers and user data must be set as follows in the transmit telegram:
Identifier: 0x00 (network management)
User data: 0x0100 (NMT command "Start Remote Node" to all nodes)
%LW
%LW
%LW
%LW
%LW
%LW
%LW
%LW
%LW
,GHQWLILHU
8VHUGDWD%\WH
&2%,'
FRPPDQG
VSHFLILHU
FV
QRGH
DGGUHVV
QRGH,'
Command specifier (cs)
NMT command
dec
hex
1
0x01
Start Remote Node
2
0x02
Stop Remote Node
128
0x80
Enter Pre-Operational
129
0x81
Reset node
130
0x82
Reset communication