xiii 
C.2  Network Management (NMT) ..................................................................... C-6 
C.3  PDO (Process Data Object) ........................................................................ C-6 
C.4  SDO (Service Data Object) ......................................................................... C-8 
 
Appendix D Explanation of Homing Modes 
D.1  Explanation of Homing Modes ................................................................... D-2 
 
Appendix E List of Accessories 
E.1  Accessories for CANopen Communication .................................................. E-2 
E.2  Accessories for PROFIBUS DP Communication ........................................... E-4 
E.3  Accessories for DeviceNet Communication ................................................. E-4