Nmt Services - Delta ASDA-A3 Series User Manual

CANopen Mode

12.2.2.6 NMT services

State machine

12
The NMT state machine is shown as follows. After the servo drive completes the Initialization
mode, it enters the Pre-Operational mode. The NMT state machine determines the behavior of
the communication function, such as PDO functions only in the Operational mode.
Status
Initialization
Pre-operational
Stopped
Operational
The following table shows the communication objects that can be used for each communication
status:
Communication object
Synchronization object
Emergency object
Boot-up object
NMT object
12-14
Power On or Hardware Reset
(14)
(13)
(12)
The servo drive successfully completes initialization after powering on without
errors occurring. The packet could still not be transferred in this state.
Data can be exchanged with SDO. If an alarm occurs in the servo drive,
an emergency message is sent to notify the controller.
SDO and TxPDO data packets can be used to exchange data with the controller.
This state allows for all data exchanges including SDO and PDO (TxPDO and
RxPDO).
Initialization
PDO
SDO
(1)
Initialization
(2)
Pre-Operational
(4) (5)
(6)
(3)
Operational
Description
Pre-operational
V
V
V
V
V
(11)
(7)
(10)
Stopped
(8)
(9)
Operational Stopped
V
V
V
V
V
ASDA-A3
V