JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 229
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.58 NMT (Network Management services)
The Network Management is structured according to nodes and follows a master-slave
structure. NMT objects are used for executing NMT services. Through NMT services,
nodes are initialised started, monitored, resetted or stopped. All nodes are regarded as
NMT slaves. An NMT slave is uniquely identified in the network by its Node-ID. NMT
requires that one device in the network fulfils the function of the NTM master. The NMT
master controls the state of the NMT slaves. The state attribute is one of the values
(Stopped, Pre-operational, Operational, initialising). The module control services can be
performed with a certain node or with all nodes simultaneously. The NMT master con
-
trols its own NTM state machine via local services, which are implementation depend-
ent. The Module Control Service except Start Remote Node can be initiated by the local
application.
A general NMT protocol:
Where CS is the NMT command specified. The Node-ID of the NMT slave as assigned
by the NMT master in the Node Connect protocol, or 0. If 0, the protocol addresses all
NMT slaves.
Start Remote Node:
This is an instruction to transition from the Pre-Operational to Operational communica-
tions state. The drive can only send and receive process data when it is in the Operational
state.
Stop Remote Node:
This is an instruction to transition from Pre-Operational into stopped or from Operation-
al into Stopped. In the stopped state, the nodes can only process NMT instructions.
Enter Pre Operational:
This is an instruction to transition from Operational or Stopped into Pre-Operational. In
the Pre-Operational state, the node cannot process any PDOs. However, it can be pa
-
rameterized or operated via SDO. This means setpoint can also be entered.
CS = Operation
1 Start Remote Node
2 Stop Remote Node
128 Enter Pre Operational
129 Reset Node
130 Reset Communication
TT1081GB
Request
COB-ID = 0
CS Node-ID
NMT Slave (s)
Indication
Indication
Indication
01
2
NMT master
TT1082GB
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