02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-27
8.5.2.2 NMT state
The drive switches automatically to the "Initialization" status when
voltage is connected to the control board. It switches to "Pre-
operational" after initialization. In the "Pre-operational" state, the drive
can be configured by means of SDOs and commissioned. It cannot
receive or transmit PDOs in this state.
The drive is switched to the "Operational" state with NMT message
"Start Remote Node". The drive is fully functional in this state.
In the "Stopped" state, the drive cannot be operated via the bus. It can
only be switched out of this state again by NMT message "Enter pre-
operational state" (SDO only) or "Start_Remote_Node" (PDO and SDO.
Initialization
Pre-Operational
Operational
(1)
(2)
(3)(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
Power On or Hardware Reset
Stopped
Fig. 8.5-1 State diagram of a device
(1) The drive automatically switches to the initialization state at Power ON
(2) Initialisation finished – enter PRE-OPERATIONAL automatically
(3), (6) Start_Remote_Node indication
(4), (7) Enter_PRE-OPERATIONAL_State indication
(5), (8) Stop_Remote_Node indication
(9), (10), (11) Reset_Node indication
(12), (13), (14) Reset_Communication indication
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