Lenze 931K - Manual (Page 43)

CANopen communication
Network management (NMT)
Telegram structure
5
l
43 KHB 13.0002−EN 4.1
State transitions
(3)
(11)
(10)
(9) (8)
(6)
(7)
(5) (4)
(2)
(1)
(13)
(12)
(14)
Initialisation
Pre-Operational
Stopped
Operational
E82ZAFU004
Fig. 5 Network management state transitions
State
transition
Command
(hex)
Network state after
change
Effect on process and parameter data after state change
(1) − Initialisation
At power−on the initialisation is started automatically.
During the initialisation, the drive controller does not take part in the data
transfer.
After the initialisation is completed, a boot−up message with an own
identifier is sent from the drive controller to the master and the drive
controller automatically changes to the pre−operational state.
(2) − Pre−operational
In this phase, the master decides how the drive controller/s is/are to
participate in the communication.
From this moment on, the master changes the states for the entire network. A target address, which is part of the command, specifies the
receiver/s.
(3), (6) 01 xx Operational
Network management telegrams, sync, emergency, process data (PDO)
and parameter data (SDO) are active (corresponds to start remote node")
Optional:
Event−controlled and time−controlled process data (PDO) are sent once in
the case of a change.
(4), (7) 80 xx Pre−operational
Network management telegrams, sync, emergency and parameter data
(SDO) are active (corresponds to enter pre−operational state )
(5), (8) 02 xx Stopped Only network management telegrams can be received.
(9)
82 xx
Initialisation
Initialisation of all parameters in the communication module with the
stored values (corresponds to reset node")
(10)
(11)
(12)
81 xx
Initialisation of communication−relevant parameters (CIA DS 301) in the
communication module with the stored values (corresponds to reset
communication")
(13)
(14)
xx = 00
hex
With this assignment, all devices connected are addressed by the telegram. The
state can be changed for all devices at the same time.
xx = node ID If a node address is specified, only the state of the addressed device will be
changed.