Fcan-01 Boot-Up Sequence And Network Management (Nmt) - ABB FCAN-01 User Manual

Inside the CANopen data frame, different types of Communication
Objects are used to convey the data. Process Data Objects (PDO)
are used for transmitting time critical process data (references,
control commands, status information); Service Data Objects
(SDO) are used for less time critical data, for example,
parameters. In addition, there are Special Function Objects and
Network Management Objects.

FCAN-01 boot-up sequence and Network Management (NMT)

The FCAN-01 supports the boot-up sequence of a "Minimum
Capability Device", as defined by the CANopen Communication
Profile. The boot-up state diagram of the FCAN-01 is shown
below.
(6) Start_Remote_Node indication
(7) Stop_Remote_Node indication
(8) Enter_Pre-Operational_State indication
(10) Reset_Node indication
(11) Reset_Communication indication
(12) After Initialisation is finished
(13) (14) After Reset is performed
Initialisation
Reset application
Reset communication
Power on
Pre-operational
Operational
(13)
(14)
Init
(12)
(8)
(7)
(6) (8)
(7)
(6)
(10)
(11)
Stopped
Communication
91