📄 can in automation (cia) - canopen protocol - network management (nmt).htm
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<TD class=path><A
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<A
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<TD class=modify
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id=pingu><A title="Thilo Schumann"
href="http://www.pingu.info/">Pingu</A></SPAN>Last
modified: 2003-12-23</TD></TR></TBODY></TABLE></TD></TR>
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<H2>CANopen protocol - Network Management (NMT)</H2>
<P>The Network Management objects include Boot-up
message, Heartbeat protocol, and NMT
message.<BR><BR>Boot-up message, and Heartbeat protocol
are implemented as single CAN frames with 1-byte data
field. <BR><BR><IMG height=186
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/nmt-slave.gif"
width=300 border=0></P>
<H3>NMT message</H3>
<P>The NMT message is mapped to a single CAN frame with
a data length of 2 byte. Its identifier is 0. The first
byte contains the command specifier and the second
contains the Node-ID of the device that must perform the
command (in the case of Node-ID 0 all nodes have to
perform the command). The NMT message transmitted by the
NMT master forces the nodes to transit to another NMT
state. The CANopen state machine specifies the states
Initialization, Pre-Operational, Operational and
Stopped. After power-on, each CANopen device is in the
state Initialization and automatically transits to the
state Pre-operational. In this state, transmission of
SDOs is allowed. If the NMT master has set one or more
nodes into the state Operational, they are allowed to
transmit and to receive PDOs. In the state Stopped no
communication is allowed except that of NMT
objects.<BR><IMG height=132
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/nmt.gif"
width=300 align=left border=0> The state Initialization
is divided into three sub-states in order to enable a
complete or partial reset of a node. In the sub-state
Reset Application the parameters of the
manufacturer-specific profile area and the standardized
device profile area are set to their power-on values. In
the sub-state Reset Communication the parameters of the
communication profile area are set to their power-on
values. The third sub-state is initialising, which a
node enters automatically after power-on. Power-on
values are the last stored parameters.<BR><BR></P>
<H3>Boot-up meesage</H3>
<P>A device sends the Boot-up message to indicate to the
NMT master that it has reached the state
Pre-operational. This occurs whenever the device
initially boots-up but also after a power-out during
operation. The Boot-up message has the same identifier
as the Heartbeat object, however, its data content is
zero. <BR><BR></P>
<H3></H3></TD>
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<TD style="FONT-WEIGHT: bold; COLOR: white"
bgColor=#009966 color="white">Direct
links</TD></TR>
<TR vAlign=top align=justify>
<TD><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/index.html">Introduction</A>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/pdo.html">Process
Data Objects (PDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/sdo.html">Service
Data Objects (SDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/nmt.html">Network
Managment (NMT)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/special.html">Special
function objects (Sync, Emcy, Time)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/errorcontrol.html">Error
control: Heartbeat</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/od.html">Device
model and object dictionary</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Network Management (NMT).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/bittiming.html">Bit
timing</A></P>
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