Delta MS300 Series User Manual page 643

Chapter 15 CANopen OverviewMS300
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. The 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 the reset application state
(16) Automatically enter the reset communication state
PDO
SDO
SYNC
Time Stamp
EMCY
Boot-up
NMT
Initializing Pre-Operational
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634
A: NMT
B: Node Guard
C: SDO
D: Emergency
E: PDO
F: Boot-up
Operational
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Stopped
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