Which products are affected?
9300EP servo positioning controller as of versions V2.1
What happens?
The last NMT frames sent were not detected by 9300 controller.
When does the problem occur?
If a CANopen master has sent several NMT frames within one millisecond via the CAN bus, the last NMT frames sent were not detected by 9300 controller.
Possible diagnostics?
NMT frames are used to change the CAN controller state (e.g. operational, pre-operational). If a 9300 controller fails to detect an NMT frame, it does not switch to the CAN state.
Short-term measures/recommendations?
Only send NMT frames as broadcast messages (to all CAN devices) or only send NMT frames to a drive at intervals longer than one millisecond.
Evaluation:
Since NMT frames are normally only used when switching on the system, it may happen that one or more 9300 controllers fail to participate in process data communication because they are still in the pre-operational state.
