44 Reference
NMT state machine
The MotiFlex e180’s operating states/modes are defined by an NMT state machine
based upon that used by CANopen. The state machine is important because it
defines the behavior of the valid on reset objects (see Object dictionary on page 46).
The following diagram shows how the firmware is implemented.
NMT_GS_INITIALISING
The system is initialised and the object dictionary created during this state.
NMT_GS_RESET_APPLICATION
Reset application is used to set all manufacturer and application/drive profile specific
objects (0x2000 and greater) to their power-on values.
NMT_GS_RESET_COMMUNICATION
Reset communication is used to set all communication profile specific objects
(0x1000..1FFF) to their power-on values.
NMT_GS_RESET_CONFIGURATION
Reset configuration is used to apply the configuration settings. Objects that are
handled during that state are marked with valid on reset. All others are valid on write.
Power-on value
The power-on value is the combination of default value and stored configuration. If
the stored configuration does not contain an object value then the default value is
used instead. If no configuration is present then the defaults are used for all objects.
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