Delta C2000 Plus Series - Page 1027

Chapter 15 CANopen Overview C2000 Plus
15-4
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:
Reset Communication
Initializing
Reset Application
Pre-Operation ABCD
Stopped AB
Operation ABCD
(1)
(15)
(16)
(2)F
(14)
(13)
(12)
(3) (4)
(11)
(10)
(9)
(7)
(5)
(6)
(8)
(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
A: NMT
B: Node Guard
C: SDO
D: Emergency
E: PDO
F: Boot-
up
Initializing Pre-Operational Operational Stopped
PDO
○
SDO
○ ○
SYNC
○ ○
Time Stamp
○ ○
EMCY
○ ○
Boot-up
○
NMT
○ ○ ○