Baumer GNAMG Series Handbuch - Seite 36
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5.3. Operation
NMT states
After init the inclination sensor is in Pre-Operational Mode which is the state for reading and writing SDOs.
To start PDO communication NMT-Start must be transmitted to switch the inclination sensor to Operational
Mode. Now the required PDO's are transmitted. Now there is also read and write access to SDOs.
Upon stopping the inclination sensor by NMT-Stop it will got to Stopped Mode. This state is only for NMT
communication including Heartbeat.
NMT-Reset means re-init of the inclination sensor that now will be in Pre-Operational Mode again .
The NMT state is indicated by LED (refer to chapter Status LED)
Setting the Heartbeat Time
For guarding the communication capability a „Producer Hearbeat Time" must be defined in object 1017h. The
service will be utilized upon confirmation of the parameter. Example: Every 100 ms the inclination sensor shall
transmit a heartbeat (100 = 64h):
COB-ID
DLC Command
600h+Node-ID
8
Confirmation:
COB-ID
DLC Command
580h+Node-ID
8
COB-ID
Data/ Remote Byte 0
701h
d
Hearbeat messages comprise COB-ID and one byte, latter is transmitting the NMT state.
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-Operational
i.e. the inclination sensor is in pre-operational mode (7Fh = 127).
Manual_GNAMG_CANopen_EN.doc
21.11.12
Object L
2Bh
17h
Object L
60h
17h
7Fh
Object H
Subindex Data 0 Data 1
10h
0h
Object H
Subindex Data 0 Data 1
10h
0h
36/41
64h
0h
0
0
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany