Delta C2000 Series User Manual page 731

Chapter 15 CANopen Overview C2000
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.
A network has only one NMT master, and the other nodes are slaves. All CANopen nodes have a
present NMT state, and the NMT master can control the state of the slave nodes. Following shows
the state diagram of a node:
(1) After power is applied, start in the auto-initialization state
(2) Automatically enter the pre-operational state
(3) (6) Start remote node
(4) (7) Enter the pre-operational state
(5) (8) Stop remote node
(9) (10) (11) Reset node
(12) (13) (14) Reset communication
(15) Automatically enter reset application state
(16) Automatically enter reset communication state
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
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○
○
○
○
○
(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)