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Functions
NMT state Pre-operational
In the NMT state Pre-operational, communication via SDO is possible. PDO communication is not
allowed. Configuration of PDO, parameters and also the allocation of application objects (PDO map-
ping) may be performed by a configuration application. The CANopen€ device may be switched into
the NMT state Operational directly by sending the NMT service start remote node.
NMT state Operational
In the NMT state Operational, all communication objects are active.
NMT state Stopped
By switching a CANopen€ device into the NMT state Stopped, it is forced to stop the communication
(except NMT node control and NMT error control). Furthermore, this NMT state may be used to
achieve certain application behavior.
NMT states and communication object relation
The relation between NMT states and communication objects is shown in the following table. Ser-
vices in the listed communication objects may only be executed if the CANopen€ devices involved in
the communication are in the appropriate NMT states.
In case of trying to send a communication object which is not allowed in the specific NMT state, no
error information will be displayed.
Communication Object
PDO
SDO
SYNC
EMCY
TIME
Node control and error control
Tab. 4-28: Relation between communication objects and NMT states
4.8.2
Boot-Up protocol
The boot-up protocol is used to signal that a NMT slave has switched to the NMT state Pre-operational
after the NMT state Initialization. The protocol uses the same CAN-ID as the error control protocols.
One data byte is transmitted with value 0.
Boot-up producer
Fig. 4-26: Protocol Boot-Up
4 – 36
Request
Pre-operational
Operational
b
b
b
b
b
COB-ID = 1792 + Node-ID
0
Network Management
NMT state
Stopped
b
b
b
b
b
b
b
: Applicable,
Boot-up consumers
Indication
MITSUBISHI ELECTRIC
b
: Not applicable
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