E.1.4 Canopen Communication Protocol; E.1.4.1 Nmt (Network Management Object) - Delta Electronics AC Motor Drive VFD-E User Manual

Appendix E CANopen Function |
Object
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
Default SDO (tx)
Default SDO (rx)
NMT Error
Control

E.1.4 CANopen Communication Protocol

It has services as follows:
NMT (Network Management Object)
SDO (Service Data Object)
PDO (Process Data Object)
EMCY (Emergency Object)

E.1.4.1 NMT (Network Management Object)

The Network Management (NMT) follows a Master/Slave structure for executing NMT
service. Only one NMT master is in a network, and other nodes are regarded as slaves. All
CANopen nodes have a present NMT state, and NMT master can control the state of the
slave nodes. The state diagram of a node are shown as follows:
E-4
Function Code Node Number
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1110
COB-ID
1-127 0x181-0x1FF 0x1800
1-127 0x201-0x27F 0x1400
1-127 0x281-0x2FF 0x1801
1-127 0x301-0x37F 0x1401
1-127 0x381-0x3FF 0x1802
1-127 0x401-0x47F 0x1402
1-127 0x481-0x4FF 0x1803
1-127 0x501-0x57F 0x1403
1-127 0x581-0x5FF 0x1200
1-127 0x601-0x67F 0x1200
1-127 0x701-0x77F 0x1016, 0x1017
Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11
Object Dictionary
Index