Network Management Services
Original instructions
Overview
The network management (NMT) is used to start, stop, reset and initialize CANopen nodes. It process boot-up messages and error control events of the individual CANopen slave devices.
The error control mechanism monitors CANopen slave devices by Heartbeat or Node Guarding.
The behavior of the CANopen slave devices depends on the configuration of the following objects:
The start-up states of the CANopen slave devices can be modified once the BMECXMCXM is in CONNECTED RUN state by sending NMT commands using explicit messages.
The NMT commands are accessible through a WRITE_SDO or READ_SDO in object 1F82 hex.
NOTE: NMT commands are accepted in both automatic and manual modes.
NMT State Machine
The following figure gives the NMT service commands to controlling the operating behavior of a CANopen node on the network:
(1) 
Start remote node
(2) 
Stop remote node
(3) 
Enter pre-operational
(4 
Reset communication
(5) 
Reset node
NMT Commands Values
The following table gives the NMT commands available through CANopen SDO commands:
Value (hex)
READ_SDO command
WRITE_SDO command
00
NMT state unknown
Reserved
01
CANopen device missing
Reserved
02
Reserved
03
Reserved
04
NMT state STOPPED
NMT service Stop remote node
05
NMT state OPERATIONAL
NMT service Start remote node
06
Reserved
NMT service Reset node
07
Reserved
NMT service Reset communication
08
Reserved
7E
Reserved
7F
NMT state PRE-OPERATIONAL
NMT service Enter pre-operational
80
Reserved
83
Reserved
84
NMT state STOPPED
NMT service Stop remote node
(excluding NMT master and requesting CANopen device)
85
NMT state OPERATIONAL
NMT service Start remote node
(excluding NMT master and requesting CANopen device)
86
Reserved
NMT service Reset node
(excluding NMT master and requesting CANopen device)
87
Reserved
NMT service Reset communication
(excluding NMT master and requesting CANopen device)
88
Reserved
8E
Reserved
8F
NMT state PRE-OPERATIONAL
NMT service Enter pre-operational
(excluding NMT master and requesting CANopen device)
90
Reserved
FF
Reserved
NMT Command Data Examples:
This table shows the command data for a Start remote node:
Value
Size
Parameter
0: PLC
1...5: DTM
SINT
Connect ID
127
SINT
Node ID
1F82 hex
INT
Index
Node ID:
1...7F hex: Node ID targeted
80 hex: all nodes (broadcast)
SINT
Subindex
[1]
INT
Length
05 hex
85 hex (excluding master)
SINT
Data
This table shows the command data for a Stop remote  node:
Value
Size
Parameter
0: PLC
1...5: DTM
SINT
Connect ID
127
SINT
Node ID
1F82 hex
INT
Index
Node ID:
1...7F hex: Node ID targeted
80 hex: all nodes (broadcast)
SINT
Subindex
[1]
INT
Length
04 hex
84 hex (excluding master)
SINT
Data