Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 90)

920-0025 Rev K

3/5/2015

CANopen User Manual

Appendix I - Understanding NMT States

Under normal operating conditions, a Network Management (NMT) state machine will

power up into an Initialization state, send out a boot-up packet, move into a Pre-Operational

state, and start sending out heartbeats with the Pre-Operational state status code.

Table 25: Understanding NMT States

Building a CANopen NMT Data Frame - Example

This example will show how to send a broadcast message to all CANopen nodes to put

them into an operational NMT state. The COB-ID for NMT commands is always 0. This en-

sures that an NMT command has the highest priority on the bus and will never be preempted,

except by another node sending out an NMT command.

The rst data byte of an NMT command contains the NMT Control Command, which is 1

(Operational) in this case.

The second data byte contains either the Node-ID of a target Node, or, in the event that

the NMT master is requesting that all nodes change their NMT Mode, a zero. To send a broad-

cast message, a zero is used.The completed data frame is below.

Table 26: Example - NMT Data Frame

NMT Mode NMT Control

Command

NMT Status Code

(Heartbeat)

Initialization/Node Reset 129 0

Pre-Operational 128 127

Operational 1 5

Stopped 2 4

COB ID Data Length Data Byte 0 Data Byte 1

0 2 1 0

1 2 ... 85 86 87 88 89 90 91 92 93 94 95 ... 100 101

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