Siemens SINAMICS G110M Function Manual page 175

can use SDO parameters to change or operate the inverter, which means that you can
also enter setpoints via SDO.
● Operational, p8685 = 5; Command specifier = 1
In this state, the nodes can process SDO as well as also PDO.
● Stopped, p8685 = 4; Command specifier = 2
In this state, the nodes can neither process PDO nor SDO. The "Stopped" state
terminates one of the following commands:
– Enter Pre-Operational, p8685 = 127 (factory setting), Command specifier = 128
– Start Remote Node
– Reset Node, p8685 = 128, Command specifier = 129
– Reset Communication, p8685 = 129, Command specifier = 130
Note
Sending an incorrect NMT state
If the control sends an incorrect NMT state to the inverter, the inverter goes into the
"Stopped" state.
Request sent by the master to one or several slaves
The NMT master can simultaneously direct a request to one or more slaves. The following is
applicable:
● Requirement of a slave:
The controller accesses the slave with its node ID (1 - 127).
● Requirement for all slaves:
Node ID = 0
Boot-up Service
The boot-up protocol indicates the state of the NMT slave after it has booted (factory setting
"Pre-operational").
Bootup protocol COB ID = 700 hex + node ID
1 data byte with the value 0 is transmitted.
NMT state after power up
Using parameter p8684, set the state that the inverter goes into after powering up:
● p8684 = 4
● p8684 = 5
● p8684 = 127 Pre-Operational (factory setting)
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Stopped
Operational
Communication over CANopen
6.1 Network management (NMT service)
173