Lenze EPM−T9XX Modular system - Manual (Page 216)

Network management (NMT)
9
Network via CANopen
9.2
L
9.2−2 EDSPM−TXXX−9.0−11/2009
(3)
(11)
(10)
(9) (8)
(6)
(7)
(5) (4)
(2)
(1)
(13)
(12)
(14)
Initialisation
Pre-Operational
Stopped
Operational
E82ZAFU004
Fig. 9.2−2 Network management status transitions
Status
transition
Command
(hex)
Network status
after change
Effects on process and parameter data
(1) − Initialisation
Initialisation starts automatically when the mains is
switched on.
During initialisation, the I/O system does not take part in
the data transfer.
After initialisation has been completed, the device sends a
boot−up message with an identifier to the master. The
device is automatically set to the status "Pre−operational".
(2) − Pre−Operational
In this phase, the master determines the I/O system
communication.
From that moment on, the master changes a status for the whole network. A target address, which is part of the
command, selects the slave(s).
(3), (6) 01 xx Operational
Network management telegrams, sync, emergency,
process data (PDOs) and parameter data (SDOs) are active.
Optional:
When the status is changed, event and time−controlled
process data (PDOs) will be sent once.
(4), (7) 80 xx Pre−Operational
Network management telegrams, sync, emergency and
parameter data (SDOs) are active (like Enter
pre−operational state )
(5), (8) 02 xx Stopped
Parameter and process data cannot be received. Network
management telegrams can be received.
(9)
81 xx
Initialisation
Initialises all indices with the Lenze setting.
(10)
(11)
(12)
82 xx
Initialises all communication parameters (index 0−1FFF
h
)
with the Lenze setting. (13)
(14)
xx = 00 h With this assignment, all controllers connected are addressed by the telegram. All controllers can change their status at the same time.
xx = node ID If a node address is indicated, the status will only be changed for the controller addressed.
State transitions