Siemens SINAMICS G120 - Page 191

Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
191
● Reset Communication:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Communication command is issued, the converter resets
all the communication objects (1000 hex - 1FFF hex) to the state that was present after
"Power On".
Figure 7-18 CANopen state diagram
Command specifier and Node_ID indicate the transition states and addressed nodes:
Overview of NMT commands
NMT master - request → NMT slave - message
Command
Byte 0 (command specifier, CS)
Byte 1
Start
1 (01hex)
Node ID of the addressed node
Stop
2 (02hex)
Node ID of the addressed node
Enter Pre-Operational
128 (80hex)
Node ID of the addressed node
Reset Node
129 (81hex)
Node ID of the addressed node
Reset Communication
130 (82 hex)
Node ID of the addressed node