Delta CT2000 Series User Manual page 410

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
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Chapter 15 CANopen Overview CT2000 Series
(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
○
○
○
○
○
○ ○
15-3
(9)