
3 Basics | IL•1F CANopen DS301 |
3.6Network management services
Network management (NMT) is part of the CANopen communication profile; it is used to initialize the network and the network devices and to start, stop and monitor the network devices in network mode.
NMT services are executed in a
NMT- | NMT- | NMT- | NMT- |
Slave | Master | Slave | Slave |
data |
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CAN |
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NMT- |
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Slave |
| Slave |
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Figure 3.28 NMT services via the master-slave relationship
The device can only take on the function of an NMT slave.
NMT services NMT services can be divided into two groups:
•Services for device control, to initialize devices for CANopen com- munication and to control the behavior of devices in network mode
•Services:for connection monitoring
3.6.1NMT services for device control
NMT state machine The NMT state machine describes the initialization and states of an NMT slave in mains operation.
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| Power on |
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Reset | Reset | Initialization |
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Application | Communication |
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D | E | SDO, EMCY | ||
| NMT | |||
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| B | C | NMT |
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| Stopped | ||
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| A |
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| Operational |
| PDO, SDO, SYNC |
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| EMCY, NMT | |
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Figure 3.29 NMT state machine and available communication objects
To the right, the graphic shows all communication objects that can be used in the specific network state.
0198441113586, V2.01, 11.2008
46 | Fieldbus interface |