Flintec EM100-C - NMT Master Message; Heartbeat Message; Emergency Message

EM100-C User Manual
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Page 79 of 81
6.4.2. NMT Master Message
The NMT master message is used by the master node to switch a node OR all nodes into a
specified NMT state. There is no acknowledge response – the node will simply go to state (if
possible).
COB- ID
Requested Action
Transmit master  EM100 Node ID
Byte 1
Byte 2
000
01Hex. = Start.
02Hex. = Stop.
80Hex. = Pre-operational.
81Hex. = Reset Node.
82Hex. = Reset Communication.
01 – 127decimal.
OR
00 (Broadcast).
6.4.3. Heartbeat Message
This is sent by an individual node when the heartbeat protocol is activated. It contains only one
byte, indicating the NMT State.
COB-ID
NMT State
700 + Node ID.
0 = Boot-up.
4 = Stopped.
5 = Operational.
127 = Pre-Operational.
Note: bit-7 is reserved.
6.4.4. Emergency Message
This is sent by an individual node to warn of an error condition in the internal functioning of that
node.
Transmit
EM100->Master
COB-ID 80H+Node ID
Error Code
Error
Registered
Manufacturer Specific Error
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
81
10
81
00
00
00
00
00
00
The above shows the error code 8110 which is CAN overrun (i.e. objects are lost).