Delta C2000 Series User Manual page 462

CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)
SDO (Service Data Objects)
PDO (Process Data Object)
EMCY (Emergency Object)
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 is shown as follows:
(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
Initializing
Reset Application
Reset Communication
(14)
Pre-Operation ABCD
(3)
(13)
(12)
Operation ABCD
Chapter 15 CANopen Overview
(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
C2000 Series
(9)