Lenze 931M-931W - Manual (Page 46)

CANopen communication
Network management (NMT)
Communication phases of the CAN network (NMT)
5

46 KHB 13.0003-EN 2.0
5.5 Network management (NMT)
Via the network management, the master can carry out state changes for the entire CAN
network. For this purpose, the identifier with the highest priority (000
h
) is reserved.
5.5.1 Communication phases of the CAN network (NMT)
Regarding communication, the drive distinguishes between the following states:
State Explanation
”Initialisation” Initialisation starts when the controller is switched on. In this phase, the
controller does not take part in the bus data transfer.
It is also possible in every NMT state to restart the entire initialisation or parts
of it by transferring special telegrams (see ”State transitions”). In this case, all
parameters already set are overwritten with their standard values.
After initialisation has been completed, the controller is automatically set to the
state ”pre-operational”.
”Pre-operational”
(before being ready for
operation)
The controller can receive parameter data.
Process data is ignored.
”Operational”
(ready for operation)
The controller can receive parameter data and process data.
”Stopped” Only network management telegrams can be received.