Basics
24
NHA80945 04/2017
NMT State Chart
Depending on the communication status of the drive, the following services are available:
In Pre-Operational mode, the master can only perform SDO.
In operation mode, the master can perform SDO and PDO. The device can be controlled only if the user
has selected CANopen as the command channel.
In Stop mode, the master cannot perform SDO and PDO.
In the event of a resettable detected error, the drive must be in the Operational NMT state in order that the
PDO carrying the control word CMD can reset the drive using the CMD Fault reset bit.
Node Guarding Service
Either the Node Guarding service described here of the Heartbeat service described below can be used
for communication monitoring. Only one these two services can be active at any one time. The Node
guarding service is deactivated by default on the Altivar.
The master scans the drive at regular intervals (Life Time) by sending "Remote Transmit Requests"
(RTR). The "Life Time" is calculated by multiplying the Guard Time by the Life Time Factor.
If, once the Life Time has expired, the drive has not received the RTR:
It triggers a Life Guarding error
Sends an emergency telegram (EMCY)
Transition Description
(1) On power-up, the node automatically changes to the initialization state
(2) Once initialization is complete, the pre-operational state is activated automatically
(3), (6)
Start_Remote_Node
(4), (7)
Enter_Pre-Operational_State
(5), (8)
Stop_Remote_Node
(9), (10), (11)
Reset_Node
(12), (13), (14)
Reset_Communication
Initialization Pre-Operational Operational Stopped
PDO X
SDO X X
Synchronization (SYNC) X X
Emergency (EMCY) X X
Bootup Service X X
Network Management (NMT) X X X
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