Lenze I/O system 1000 - Page 82

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 82
5 CANopen communication
5.2 Network management (NMT)
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State transitions
[5-3] NMT status transitions in the CAN network
Transition NMT command Status after
change
Effects on process or parameter data after status change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During the initialisation phase, the I/O system is not
involved in the data transfer.
• 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 decides in which way the I/O
systems partakes in the communication.

From here, the states are changed over by the master for the entire network. A target address
included in the NMT command specifies the receiver/s.
(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 The parameters saved last via I-1010 are loaded for all
indexes. If no value has been saved yet, the Lenze setting is
loaded.
(12), (13), (14) 0x82 xx
Reset communication
For all communication parameters (index 0x1FFF), the
parameters saved last via I-1010 are loaded. If no value has
been saved yet, the Lenze setting is loaded.

Meaning of the node address in the NMT command
xx = 0x00:
In case of this assignment, the telegram addresses all devices connected. The state of all devices can
be changed at the same time.
xx = node ID:
If a node address is given, only the state of the device with the corresponding address will be
changed.