cdebyte 发表于 2026-8-7 16:51:34

CANopen NMT命令与节点状态解析

​简介NMT(Network Management,网络管理)是CANopen的核心管理机制,用于主站统一管控从站状态、启停设备、复位节点、管理总线拓扑,是整个网络的“总指挥系统”,因此NMT指令固定使用0x00的帧ID,具有最高总线仲裁优先级;NMT命令组成帧数据由两个字节组成,第一个字节为命令代码(见下表1),第二个字节代表被控制的节点Node-ID,使用0x00可对整个CAN网络节点进行控制;表 1 NMT命令代码
命令代码功能
0x01启动命令,让节点进入操作状态
0x01停止命令,让节点进入停止状态
0x80进入预操作状态命令,让节点进入预操作状态
0x81复位节点应用层命令,让节点的应用恢复初始状态
0x82复位节点通讯命令,让节点的CAN和CANopen通讯重新初始化,一般用于总线受到干扰,导致节点总线错误被动,或者总线关闭时
NMT节点状态与心跳报文在 CANopen 总线系统的实际工程应用场景中,为实现对总线上各个从站节点的在线状态持续监测,同时实时获取节点当前运行状态信息,行业内普遍要求处于正常工作状态的从节点按照固定周期主动向外发送状态报文,该报文也就是常说的心跳报文。主控制器可以通过持续接收心跳报文,实时判定对应从站是否出现离线、通讯中断等故障问题,同时结合报文内容完成节点状态解析,第一时间开展异常排查与应急处理工作。心跳报文的功能配置主要依托两个关键对象字典参数完成,分别是消费者心跳超时参数(索引 0x1016)与生产者心跳周期参数(索引 0x1017),其中生产者心跳周期为16位无符号短整型,单位为毫秒,将该参数数值设置为0时,代表关闭当前节点的心跳报文发送功能,而消费者心跳超时为32位无符号整型(如图 1)。CANopen协议规定,心跳报文的通信对象COB-ID遵循固定规则,统一由0x700加上设备自身节点ID组合而成。图 1 消费者心跳配置超时结构data:image/png;base64,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消费者心跳超时,该对象为期望的心跳周期,从接收第一次心跳开始监测心跳生产者,支持最大监控0到127个Node-ID,通过最大127组子索引的第16位到第23位配置Node-ID,低16位配置判断周期,单位ms,当出现超时是设备应用层做出相应的错误或者推送EMCY报文;表 2 节点状态
状态代码说明
0x00初始化状态(Initialising)
0x04停止状态(Stopped)
0x05操作状态(operational)
0x7F预操作状态(Pre-operational)
停止状态(Stopped):停止状态CANopen设备终止所有通信服务(激活节点保护和心跳通讯除外),这种状态可用于实现特定的应用行为,这种行为属于设备协议和应用协议的范畴,此状态下触发的EMCY 消息将被挂起,在切换到其它状态后,最近的 EMCY 将被激活。预操作状态(Pre-operational):在预操作状态允许进行SDO通信,不允许PDO通信,此状态通常用于配置PDO的参数和映射对象(PDO 映射)等,CANopen设备可以由NMT启动远程节点服务或通过本地控制由此状态切换至运行态。操作状态(operational):此状态允许所有通信服务(PDO、SDO、SYNC、TIME、EMCY、NMT),支持PDO传输,可通过SDO访问数据字典,以及可以进行SYNC、TIME、EMCY、NMT通讯对象。表 3 NMT状态与通讯对象关系

停止状态预操作状态操作状态
NMT支持支持支持
SDO不支持支持支持
SYNC不支持支持支持
TIME不支持支持支持
EMCY不支持支持支持
PDO不支持不支持支持
NMT状态机初始化态分为三个子状态(如图 2虚线框),以便能够完全或部分复位CANopen设备。1.初始化:CANopen上电或硬复位后的第一个NMT子状态,执行基本的CANopen设备初始化后自动进入复位应用子状态。2.复位应用:该子状态下,制造商协议区和标准设备协议区参数被赋上电值,之后自动进入复位通信子状态。3.复位通信:该子状态下,通信协议区参数被赋上电值,然后CANopen设备执行 boot-up 写服务并进入预运行态。图 2 CANopen设备NMT状态图data:image/png;base64,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
流程说明
(1)上电自动进入NMT初始化,自动进入NMT复位应用子状态
(2)自动进入NMT 复位通信子状态
(3)NMT 初始化执行完成---自动进入配置态
(4)由 NMT服务启动远程节点或由本地控制
(5)(6)由 NMT服务进入预运行态
(8)(9)由 NMT 服务停止远程节点
(7)由 NMT服务启动远程节点
(10)(11)(12)由 NMT 服务复位远程节点
(13)(14)(15)由 NMT服务复位远程节点的通信
​文章转载来源:https://www.ebyte.com/news/4852.html
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查看完整版本: CANopen NMT命令与节点状态解析