5 CANopen communication
5.2 Network management (NMT)
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Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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Telegram structure
[5-2] Telegram for the change-over in the communication phase
The telegram for the network management contains the identifier and the command from the user
data which consists of the command byte and the node address.
To be able to change over between the different communication phases, telegrams with identifier
0 and with 2 bytes of user data are used.
A change-over between communication phases throughout the network can only be carried out by
the network master (e.g. inverter).
Request
NMT Master
Node-IDCommand Specifier
NMT Slave
Indication
012
COB-ID = 0
Note!
You must switch to the "Operational" state to be able to communicate via process data!
Example:
If all nodes connected to the bus are to be switched from the "Pre-Operational"
communication status to the "Operational" communication status via the CAN master,
the identifier and the user data must have the following values in the transmission
telegram:
• Identifier: 0x00 (broadcast telegram)
• User data: 0x0100
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