Chapter 15 CANopen Overview
MH300
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 reset application state
(16) Automatically enter 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
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