Which products are affected?
This function restriction was eliminated in servo position controllers 9300EP as from versions V2.2 and V6.1.
Eliminated function restriction
If a CANopen master has transmitted several NMT messages within one millisecond via the CAN bus the NMT messages which were sent last, were not recognised by the controller 9300.
Now, NMT messages can be recognised which are sent on the CAN bus in intervals smaller than one millisecond.
Possible diagnostics?
NMT messages are used to change the CAN controller state (e.g. operational, pre-operational). If a controller 9300 does not recognise an NMT message, it does not change the CAN state.
Short-term measures/recommendations?
Transmit NMT messages only as broadcast messages (to all CAN devices) or NMT messages to one drive with intervals larger than one millisecond.
Evaluation:
As NMT messages are normally only used when the system is switched on, one or more controllers 9300 may not take part in the process data communication as they are still in the pre-operational state. This function restriction was eliminated already in mid 2001 with version V2.2.
