Siemens Sinamics G120P Operating Instructions Manual page 260

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Table of Contents

6.9 Communication over CANopen

Command specifier and Node_ID indicate the transition states and addressed nodes:

Overview of NMT commands

NMT master - request → NMT slave - message

Enter Pre-Operational

Reset Communication

The NMT master can simultaneously direct a request to one or more slaves. The following is

● Requirement of a slave:

The controller accesses the slave with its node ID (1 - 127).

● Requirement for all slaves:

CANopen state diagram

Byte 0 (command specifier, CS)

130 (82 hex)

Node ID of the addressed node

Operating Instructions, 12/2014, A5E32923362A

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