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, it
enters the Pre-Operational state. The NMT state machine determines the behavior of the
communication objects, such as PDO functions only in the Operational state.
Initialization
Pre-Operational
Stopped
Operational
The following table shows the available communication objects in each communication state:
Communication object
Synchronization object
Emergency object
Boot-up object
NMT object
12-14
(14)
(13)
(12)
Status
The servo drive successfully completes initialization after being powered on
without errors occurring. The packets cannot yet be transmitted in this state.
Data can be exchanged with SDOs. If an alarm occurs in the servo drive, an
emergency message is sent to notify the controller.
The servo drive can use SDO and TxPDO data packets to exchange data with
the controller.
All data exchanges including SDOs and PDOs (TxPDOs and RxPDOs) are
allowed.
Initialization
PDO
SDO
(1)
(2)
(4) (5)
(6)
(3)
Description
Pre-Operational
V
V
V
V
V
(11)
(7)
(10)
(8)
(9)
Operational Stopped
V TxPDO
V
V
V
V
ASDA-A3
V
V