Data transfer
Communication phases/network management
38
Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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7.2.1 State transitions
[7-2] NMT state transitions in the CAN network
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Transition NMT command Status after
change
Effects on process/parameter data after status change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During the initialisation phase, the inverter does not
participate in the data exchange.
• After the initialisation is completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "Pre-operational" status.
(2) - Pre-Operational In this phase, the master determines the way in which the
node(s) takes/take part in communication.
From here, the master changes the states for the entire network.
• A target address included in the NMT command defines the receiver(s).
• If the inverter has been configured as CAN master, the state change to "Operational" takes place
automatically after a waiting time has elapsed (C00356/1
), and the NMT command 0x0100
("Start Remote Node") is sent to all nodes.
• Data can only be exchanged via process data objects if the status is "Operational"!
(3), (6) 0x01 xx
Start remote node
Operational Network management/sync/emergency telegrams as well
as process data (PDO) and parameter data (SDO) are active.
Optional: When the status is changed, event- and time-
controlled process data (PDOs) are transmitted once.
(4), (7) 0x80 xx
Enter Pre-operational
Pre-Operational Network management/sync/emergency telegrams and
parameter data (SDO) are active.
(5), (8) 0x02 xx
Stop remote node
Stopped Only network management telegrams can be received.
(9), (10), (11) 0x81 xx
Reset node
Initialisation All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.
(12), (13), (14) 0x82 xx
Reset communication
All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.
Meaning of the node address in the NMT command:
• xx = 0x00: With this assignment, all nodes are addressed by the telegram (broadcast telegram).
The state can be changed for all nodes at the same time.
• xx = Node ID: If a node address is specified, only the status of the node with the corresponding
address changes.
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