NMT¶

Actuator introduction¶

When introduction is requested by system command, each device must send Its UID (function code "NMT introduce") and an description.
The NodeId may conflict due to an network error. But the master can detect different UUIDs with same NodeId.

Function codes¶

Code	Decription	Examples
0x0	NMT-Write
0x1	NMT-Send
0x2	NMT-Introduce	Device sends UID only
0x3	NMT-setId	Set NodeId on Device

Write/Send¶

Size	Decription
2	Object
6	Data

Objects¶

Object	Decription	Examples
0x0	Command channel	Send introducion
0x1	Firmware version	v0.1.1
0x1	TDT version	v0.1.1
0x2	NMT version	v0.2.2
0x3	Blob version	v0.3.3

NMT-Introduce¶

When controller sends the command "send introducion", all nodes shall send their UID and other NMT information.

Size	Decription
64 Bit	UID

Usecase: Setting Node-ID¶

Two nodes may have the same Node-ID. When scanning the network, the nodes will overwrite the counterparts information.
The "NMT-Introduce"-function code is used by the nodes to send theyr complete UID. NMT can then send
The new NodeID can not be part of the CAN-ID because the device may be filtering it out. (The whole NMT )