Delta DVP-ES3 Series - Page 387

Chapter 10 CANopen Function and Operation
10-19
10
3. NMT (network management object)
The CANopen network management conforms to the master/slave mode. Only one NMT master exists in
the CANopen network, and all other nodes are considered to be slaves. NMT includes three services:
module control, error control, and boot-up services.
 Module control services
The master node in the CANopen network controls the slave by sending commands. The slave
receives and executes the command, and does not need to reply. All CANopen nodes have internal
NMT states. The slave node has four states: initialization, pre-operational, operational, and stop
states. The following diagram illustrates the device states.
(1) After power is supplied, the device automatically enters the initialization state.
(2) After the initialization is complete, the device automatically enters the pre-operational state.
(3), (6) The remote node starts.
(4), (7) The device enters the pre-operational state.
(5), (8) The remote node stops.
(9), (10), (11) The application layer resets.
(12), (13), (14) The communication resets.
(15) After the initializing is complete, the device automatically enters the reset application state.
(16) After the reset application state is complete, the device automatically enters the reset
communication state.
Initializing
Reset application
Reset communication
Pre-operational
Operational
Stopped
(1)
(15)
(
16)
(
2)
(3)
(4)
(7)
(5)
(6)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
Initialization