Lenze EMF2178IB User Manual download pdf (Page 47)

Data transfer

CAN communication phases / network management (NMT)

EDSMF2178IB EN 3.0

State transitions

(3)

(11)

(10)

(9)

(8)

(6)

(7)

(5)

(4)

(2)

(1)

(13)

(12)

(14)

Initialisation

Pre-Operational

Stopped

Operational

E82ZAFU004

Fig. 8−3 State transitions in CAN network (NMT)

Status

transition

Command

(hex)

Network status after

change

Effects on process and parameter data after the status

change

(1) − Initialisation

Initialisation starts automatically when the mains is

switched on.

During initialisation, the drive does not take part in the

data transfer.

After initialisation has been completed, the node sends a

boot−up message with an individual identifier on the

CAN bus and changes automatically to the status

"Pre−operational".

(2) − Pre−operational

In this phase, the master determines the way in which

the controller takes part in the communication.

From that moment on, the master changes the states for the whole network. A target address, which is part of

the command, specifies the receiver(s).

(3), (6) 0x01yy Operational

Network management telegrams, sync, emergency,

process data (PDOs) and parameter data (SDOs) active

(like "Start remote node")

Optional:

When the status is changed, event and time−controlled

process data (PDOs) will be sent once.

(4), (7) 0x80yy Pre−operational

Network management telegrams, sync, emergency and

parameter data (SDOs) active (like "Enter pre−operational

state")

(5), (8) 0x02yy Stopped Only network management telegrams can be received.

(9)

0x81yy

Initialisation

Initialises all parameters in the communication module

with the stored values (corresponds to "Reset node")

(10)

(11)

(12)

0x82yy

Initialises communication−relevant parameters (CIA DS

301) in the communication module with the stored

values (corresponds to "Reset communication")

(13)

(14)

yy = 00 In case of this assignment, the telegram addresses all devices connected. The

state of all devices can be changed at the same time.

yy = node ID If a node address is given, only the state of the device with the corresponding

address will be changed.

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