Canopen State Transition - INVT Goodrive350 Series Operation Manual

Communication extension card
COB-IDs vary according to communication address, but for one command, the COB-IDs are
within a certain range.
Note: The commands described in this manual are all data frames if it is not specified that
they are remote frames.

3.4.2 CANopen state transition

The start sequence defined in the CANopen communication protocol is supported. Figure 3-3
shows the NMT state transition diagram.
State transition
(1)
(2)
(3), (6)
(4), (7)
(5), (8)
(9), (10), (11)
(12), (13), (14)
Initializing
(1)
Initializing
Reset
application
Reset
communication
(14)
Pre-operation
(13)
(12)
(3)
Operation
Figure 3-3 NMT state diagram
Table 3-2 NMT state transition
Automatic initialization after power-on
Automatic change after initialization
Command of the NMT master station for starting a remote
node
Command of the NMT master station for entering the
pre-operation state
Command of the NMT master station for entering the
stopped state
Command of the NMT master station for resetting a remote
node
Command of the NMT master station for resetting a remote
node communication parameter
(15)
(16)
(11)
(2)
(7)
(5)
Stopped
(4)
(6)
(8)
Required triggering event
-20-
CANopen communication card
(10)
(9)