Nmt Slave Startup - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.8.6

NMT slave startup

If the NMT Master shall startup the NMT Slave, the NMT startup Master uses the Indexes H1F84 to H1F88 to
identify the NMT Slaves during Boot-up. The Setting of these Indexes is optional.
The NMT startup Master will request the Index H1000 of the NMT slave to check if the NMT Slave is available
in the network. If there is no response on the request, the NMT Master retries every 1s after the request until
the NMT Slave responds to the request or the boot time for a mandatory Slave elapses without response.
The Index H1F89 Boot time shall be set to a value which is higher than the maximum NMT startup time of the
slowest mandatory slave. This time has to be measured from Power-on/Reset of the NMT master to the point
where the last mandatory slave becomes NMT state Operational.
If identification data of NMT Slaves do not match with the setting on the NMT Master, it will result in a
termination of the whole NMT Startup process and the NMT startup Master will be disabled.
After a successful Identification, the Configuration Manager configures the NMT Slave at the time when
configuration data are stored on the NMT Master.
At last depending on the setting, the NMT Master sets the NMT Slave into NMT state Operational.
Note
For correct functioning of the CANopen
are NMT Slave to the NMT Master.
Figure 5.3: NMT Slave startup process
NMT Slave startup process
OD Index
H1F81 Bit 0
no
OD Index
H1F84
To the next page
78
®
no
Node is assigned
NMT Slave?
yes
NMT Slave
shall be start by
NMT Master?
yes
Request OD Index
H1000 from NMT Slave
no
Response received?
yes
NMT Slave
no
device type equal
or don't care?
yes
To the next page
→ For NMT Slave identification, refer to Subsection 5.8.4
→ For NMT Master startup process, refer to Figure 5.1
→ For Configuration Manager, refer to Subsection 5.8.13
network, it is recommended to assign all CANopen
OD Index
H1F81 Bit 2
End boot-up with no
NMT Slave response
received
5 Introduction of Functions
5.8 Network Management
®
NMT Slave startup
finished without failures
End NMT Slave
boot-up with NMT
Slave response
not OK and BFM #25
bit 11 or 14 error,
BFM #29 bit 10 and
BFM Area #900 to
#963 bit 4 error
devices which