Curtis 1356 - NMT Network Management Messages

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Curtis 1356/1356P CAN Expansion Module Manual, Rev. A
NMT MESSAGES
NMT (Network Management Transmission) messages are the highest priority
message available. e NMT message puts the 1356 /1356P into a specic
Device State, as shown below. ese messages have 2 bytes of data sent by the
master; the slave does not respond with any data to an NMT.
e Device State value can be queried over the CAN bus using an SDO.
e Device State value is also transmitted with each heartbeat message.
Value Device State
0 Initialization (or “boot-up”)
4 StoppedXx
5 OperationalXx
127 Pre-OperationalXx
e NMT message identier consists of the standard message type, NMT,
in the top four bits. e bottom seven bits must be set to zero.
e rst data byte of the NMT command is the command specier. e
1356 /1356P will respond to the following commands.
Value Command Specifier
0x01 Enter the Operational state
0x02 Enter the Stopped stateXx
0x80 Enter the Pre-Operational statex
0x81 Reset the 1356 /1356P (warm boot)
0x82 Reset the CAN busXx
e second byte of the NMT command denes whether this NMT is for
all slaves on the bus (data byte = 0x00) or for a specic node (data byte = Node
ID of the 1356 /1356P).
3 — CANopen COMMUNICATIONS