Infranor XtrapulsPac - Node Guarding; Network Initialisation; NMT State Machine

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X
trapulsPac - User Guide
Chapter 3 – Reference
3.1.1.8 - Node Guarding
Network error behaviour
Index 0x205E
Name Network Error Behaviour
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value 0
This object defines the drive behaviour when a Node guarding error occurs.
V
alue Description
0 No Operation
1 Drive Error
2 Goes into Bus Stop state
3.1.2 - NETWORK INITIALISATION
3.1.2.1 - NMT State Machine
The NMT state machine defines the communication status.
(1) At Power on, the initialisation state is automatically entered
(2) Once the Initialisation over, Pre-Operational is automatically entered
(3), (6) Start_Remote_Node indication
(4), (7) Enter_Pre-Operational_State indication
(5), (8) Stop_Remote_Node indication
(9), (10), (11) Reset_Node indication
(12), (13), (14) Reset_Communication indication
Minimum Boot-Up consists of one CAN telegram: a broadcast Start_Remote_Note message.
Initialisation
Pre-operational
NMT, SDO, Sync, Emcy
Operational
NMT, SDO, Sync, Emcy, PDO
Stop
NMT
(1)
(2)
(3)
(4)
(5)
(7)
(11)
(10)
(9)
(6)
(8)
(14)
(13)
(12)
Power On