Delta C2000 series User Manual page 396

(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
CS
request
COB-ID=0
Initializing
Reset Application
Reset Communication
(14)
Pre-Operation ABCD
(3)
(13)
(12)
Operation ABCD
○
○
○
○
○
NMT Slave(s)
byte 1
Indication(s)
Node-ID
Indication
Indication
Indication
Chapter 15 CANopen Overview |C2000 Series
(1)
(15)
(10)
(11)
(16)
(2)F
(4)
(7)
(5)
Stopped AB
(8)
(6)
A: NMT
B: Node Guard
C: SDO
D: Emergency
E: PDO
F: Boot-up
Stopped
○
○
○
○
○
○ ○
15-4
(9)
CS
Value Definition
Start
1
Stop
2
Enter Pre-Operational
128
Reset Node
129
Reset Communication
130