Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 595 of 909
NMT
Send NMTState
APPLICATION: Communications control
DESCRIPTION: Send NMT state (broadcast or to a specific node)
EXECUTION: Immediate
CONDITIONAL TO: Enabled through CANCTL(17,value), see CANCTL(func-
tion,value) on page 354.
LIMITATIONS: Does not apply to Class 6 systems.
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x.4.30 or later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The NMTcommand transmits an NMT message to the network; it can command a specific
slave or all slaves to enter the commanded state. To do this, use:
NMT(slave addr, state)
where:
slave addr is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 2 (a
motor with CAN address 2). Range is 1 to 127; use 0 for a broadcast. If slave
addr is to itself, then internal loopback is used instead.
state
is the desired NMT state from one of the following values:
1 Operational state (PDO and SDO communications are functional)
2 Stopped state (no SDO or PDO communications)
128 Pre-operational state (SDO communications are allowed; no PDO
communications) DEFAULT state at power up
129 Reset application (resets the whole motor)
130 Reset communications (resets the CANopen stack mappings, etc.,
but motor program, variables, etc retains current state)
Part 2: Commands: NMT
To Next Page
Loading...
Need help?
General
