Siemens SINAMICS S120 Commissioning Manual page 47

NMT protocols
For the protocols shown below, the following generally applies:
The NMT master can direct a request to several NMT slaves simultaneously.
The protocol diagrams are valid for data exchange between an NMT master and an NMT
slave. For the COB identifier the following is valid for all protocols: COB-ID = 0.
Node-ID: 1-127, Node-ID = 0: All nodes
Table 1- 15 COB-ID = 0
NMT Master Request ----> NMT Slave message
Command
Start
Stop
Enter Pre-Operational
Reset Node
Reset Communication
cs: NMT command specifier
NMT state after power up
As an extension to the NMT services, automatic switching to the "Operational" state after
POWER ON can also be achieved using parameter settings (see "State diagram of a
CANopen node").
The parameter p8684 CBC NMT state after power up / NMT power up state
is used to set the CANopen NMT state, which is functional after power up or via the NMT
services "Reset Node" or "Reset Communication".
Possible values:
4: Stopped
5: Operational
127: Pre-Operational (factory setting).
The NMT state "Pre-Operational" is selected in the factory setting, as this also corresponds
to the CANopen standard.
The CANopen NMT state can be displayed or the desired state set using the parameter
p8685 CBC NMT states / NMT states.
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Byte 0
cs = 1 (01hex)
cs = 2 (02hex)
cs = 128 (80hex)
cs = 129 (81hex)
cs = 130 (82hex)
1.17 Network management (NMT service)
Byte 1
Node ID
Node ID
Node ID
Node ID
Node ID
Add infeed
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