Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 37)

20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Chapter 4
Configuring the CANopen Network
This chapter provides information about configuring a CANopen network to
communicate with the adapter and its connected PowerFlex 7-Class drive.
To configure the CANopen network, a variety of configuration tools of
CANopen Network ManagemenT (NMT) masters are available from
several manufactures, which help you to manage and configure CANopen
devices and systems.
Appendix E gives an example how to configure the CANopen network by
using the IXXAT CANopen Configuration Studio with the Mauell CoDeSys
AA programming software and the Mauell Telematic ME series of PLC.
Network Management (NMT) The Network Management (NMT) is used to control the status of all nodes
in the CANopen network. It uses a master/slave hierarchy and requires a
device with master functionality responsible for detecting, starting, and
monitoring the node states. Within any NMT slave there has to be
implemented the NMT slave state machine, where the Pre-Operational state
allows device configuration to take place.
Based on the DS301 specification, the 20-COMM-K uses the standard
CANopen network management state machine.
Figure 4.1 shows the NMT
slave state machine, and the corresponding different transitions. There are
four main states defined:
•
Initialization state
•
Pre-Operational state
•
Operational state
•
Stopped state
Topic Page
Network Management (NMT) 4-1
CANopen Object Dictionary 4-3
CANopen Network Configuration 4-4