Delta VFD300C43S-HS User Manual

Chapter 15 CANopen Overview C2000-HS
15-4
CANopen Communication Protocol
It has services as follows:
 NMT (Network Management Object)
 SDO (Service Data Objects)
 PDO (Process Data Object)
 EMCY (Emergency Object)
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 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 ○ ○ ○

Delta VFD300C43S-HS Specifications

General

Brand	Delta
Model	VFD300C43S-HS
Category	DC Drives
Language	English