Delta Electronics AFE075A43A User Manual page 114

Chapter 14 CANopen Overview AFE2000 Series
(1) After power is applied, it is auto in initialization state
(2) Enter pre-operational state automatically
(3) (6) Start remote node
(4) (7) Enter pre-operational state
(5) (8) Stop remote node
(9) (10) (11) Reset node
(12) (13) (14) Reset communication
(15) Enter reset application state automatically
(16) Enter reset communication state automatically
Initializing Pre-Operational Operational
PDO
SDO
SYNC
Time Stamp
EMCY
Boot-up
NMT
NMT Protocol is shown as follows:
NMT Master
Start Remote Node
byte 0
Request
request
Initializing
Reset Application
Reset Communication
(14)
Pre-Operation ABCD
(3)
(13)
(12)
Operation ABCD
○
○
○
○
○
○
NMT Slave(s)
byte 1 Indication(s)
CS Node-ID
COB-ID=0
(1)
(15)
(10)
(11)
(16)
(2)F
(4)
(7)
(5)
Stopped AB
(6)
A: NMT
B: Node Guard
C: SDO
D: Emergency
E: PDO
F: Boot-up
Stopped
○
○
○
○
○
○ ○
Indication
Indication
Indication
14-112
(9)
(8)
CS
Value Definition
Start
1
Stop
2
Enter Pre-Operational
128
Reset Node
129
Reset Communication
130