TPDO2 spams as NMT

Hi.
I’m using an AB9004 x-gateway. I have problem on the CANopen side. Somehow the gateway seem to send out a message with cobid 0 (which is interpreted as NMT) with the data from TPDO2. So the result is that there is a lot of NMT messages on the bus an when the first byte in the data equals 02 or 81 or some other valid NMT flag the bus resets or stops.
How could this happen?

Best regards Fredrik.

Can you share your configuration/settings and any logs or screenshots?

What is the master and what version of CANOpen is it using?

I’m not sure why the AB9004 would be acting as the NMT master or why other devices would think it is as it’s a slave on the network.

Right now my config is factory reset with Canopen device address set to 2 and baud 500kbps. We are using canopen according to CiA 301, and anybus firmware is 1.13.

Immediately after transition from pre-operational to operational the NMT messages starts. The correct NMT messages that we send out are 2 bytes which is correct, the spammed NMT is 6 bytes as it is just the data from TPDO2 copied.

Type: NMT- 0:(0x000)NMT - b-/01/00
Type: NMT- 0:(0x000)NMT - b-/00/00/00/00/00/00
Type: NMT- 0:(0x000)NMT - b-/00/00/00/00/00/00
Type: NMT- 0:(0x000)NMT - b-/00/00/00/00/00/00
Type: NMT- 0:(0x000)NMT - b-/00/00/00/00/00/00
Type: NMT- 0:(0x000)NMT - b-/00/00/00/00/00/00

This is solved. The CANopen part of the gateway does not seem to reset with factory reset. After sending 0x64616F6C into 0x1011,1 and reconfiguring the spam NMT messages are gone.