Lenze 8400 BaseLine C - Manual (Page 180)

9 System bus "CAN on board"
9.5 Communication phases/network management
180
Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05
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9.5.1 Status transitions
[9-3] NMT status transitions in the CAN network
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Transition NMT command Status after
change
Effects on process/parameter data after status change
(1) - Initialisation Initialisation starts automatically when the mains is swit-
ched on.
• During initialisation, the controller is not involved in the
data exchange.
• After the initialisation is completed, the node sends a
boot-up message with an individual identifier and auto-
matically changes to the "pre-operational" status.
(2) - Pre-Operational In this phase, the master determines the way in which the
node(s) takes/take part in communication.
 From here, the master changes the statuses for the entire network.
• A target address included in the NMT command defines the receiver(s).
• If the 8400 controller is configured as CAN master, the status is automatically changed to "Ope-
rational" after a waiting time has expired ( C356/1 ) and the 0x0100 ("Start remote node") NMT
command is transmitted to all nodes.
• Data can only be exchanged via process data objects if the status is "Operational"!
(3), (6) 0x01 xx
Start remote node
Operational Network management/sync/emergency telegrams as well
as process data (PDO) and parameter data (SDO) are active.
Optional: When the status is changed, event and time-cont-
rolled process data (PDOs) are transmitted once.
(4), (7) 0x80 xx
Enter Pre-Operational
Pre-Operational Network management/sync/emergency telegrams and pa-
rameter data (SDO) are active.
(5), (8) 0x02 xx
Stop remote node
Stopped Only network management telegrams can be received.
(9), (10), (11) 0x81 xx
Reset node
Initialisation All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.
(12), (13), (14) 0x82 xx
Reset communication
All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.
 Meaning of the node address in the NMT command:
• xx = 0x00: If this assignment is selected, the telegram addresses all nodes (broadcast telegram).
The status of all nodes can be changed at the same time.
• xx = Node ID: If a node address is specified, only the status of the node with the corresponding
address changes.