Baumer GNAMG Series Podręcznik - Strona 11
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3.3.5. Network management services
The network management is subdivided into two groups:
NMT services for device guarding are for boot-up, start and stop of bus users. NMT services are also
available as connection guard.
Significance of the NMT commands
The commands are transmitted as unconfirmed objects with the following structure:
Byte 0
Byte 1
COB-ID = 0
command byte
COB-ID for NMT commands is always zero. The Node-ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte
Meaning
01h
Start Remote Node
02h
Stop Remote Node
80h
Enter Pre-Operational Mode
81h, 82h
Reset Remote Node
The Node number is the Node-ID of the requested user. Node-ID = 0 means addressing all users.
NMT State Event
After boot-up the inclination sensor is in pre-operational mode which is the state for read and write SDO
parameters. For PDO parameter requests, the inclination sensor must be set to operational mode first.
Power on oder Hardware Reset
BootUp Message
4/5
Pre-Operational
1
4/5
Operational
Manual_GNAMG_CANopen_EN.doc
21.11.12
Byte 2
Node ID
Init
3
2
3
Stopped/Prepared
1
2
State Event Mapping
1
2
3
4, 5
4/5
11/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany