Lenze EMF2178IB - Manual (Page 47)

Data transfer
CAN communication phases / network management (NMT)
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47 EDSMF2178IB EN 3.0
State transitions
(3)
(11)
(10)
(9) (8)
(6)
(7)
(5) (4)
(2)
(1)
(13)
(12)
(14)
Initialisation
Pre-Operational
Stopped
Operational
E82ZAFU004
Fig. 8−3 State transitions in CAN network (NMT)
Status
transition
Command
(hex)
Network status after
change
Effects on process and parameter data after the status
change
(1) − Initialisation
Initialisation starts automatically when the mains is
switched on.
During initialisation, the drive does not take part in the
data transfer.
After initialisation has been completed, the node sends a
boot−up message with an individual identifier on the
CAN bus and changes automatically to the status
"Pre−operational".
(2) − Pre−operational
In this phase, the master determines the way in which
the controller takes part in the communication.
From that moment on, the master changes the states for the whole network. A target address, which is part of
the command, specifies the receiver(s).
(3), (6) 0x01yy Operational
Network management telegrams, sync, emergency,
process data (PDOs) and parameter data (SDOs) active
(like "Start remote node")
Optional:
When the status is changed, event and time−controlled
process data (PDOs) will be sent once.
(4), (7) 0x80yy Pre−operational
Network management telegrams, sync, emergency and
parameter data (SDOs) active (like "Enter pre−operational
state")
(5), (8) 0x02yy Stopped Only network management telegrams can be received.
(9)
0x81yy
Initialisation
Initialises all parameters in the communication module
with the stored values (corresponds to "Reset node")
(10)
(11)
(12)
0x82yy
Initialises communication−relevant parameters (CIA DS
301) in the communication module with the stored
values (corresponds to "Reset communication")
(13)
(14)
yy = 00 In case of this assignment, the telegram addresses all devices connected. The
state of all devices can be changed at the same time.
yy = node ID If a node address is given, only the state of the device with the corresponding
address will be changed.