Network management services – Baumer GNAMG User Manual
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Manual_GNAMG_CANopen_EN.doc
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Baumer IVO GmbH & Co. KG
21.11.12
Villingen-Schwenningen, Germany
3.3.5. Network management services
The network management is subdivided into two groups:
NMT services for device guarding are for boot-up, start and stop of bus users. NMT services are also
available as connection guard.
Significance of the NMT commands
The commands are transmitted as unconfirmed objects with the following structure:
Byte 0
Byte 1
Byte 2
COB-ID = 0
command byte
Node ID
COB-ID for NMT commands is always zero. The Node-ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte
Meaning
State Event Mapping
01h
Start Remote Node
1
02h
Stop Remote Node
2
80h
Enter Pre-Operational Mode
3
81h, 82h
Reset Remote Node
4, 5
The Node number is the Node-ID of the requested user. Node-ID = 0 means addressing all users.
NMT State Event
After boot-up the inclination sensor is in pre-operational mode which is the state for read and write SDO
parameters. For PDO parameter requests, the inclination sensor must be set to operational mode first.
Init
Pre-Operational
Operational
Stopped/Prepared
Power on oder Hardware Reset
1
3
2
1
3
2
4/5
BootUp Message
4/5
4/5