Format of slave response message:
（0x700+NodeID）+Status:
Status:
The bit7 of the data is triggered bit.This bit will alternately set to 0 or 1 in the response message.It will be set
to 0 at the first request of node guarding.The bit0 ~ bit6 indicate the status of node.
Status: 0:Initialization 1:No connection 2.Connection 3:Operational 4:Stop 5:Run
127:Pre-operational
Normally standard CAN slave only one protection mode,but JD servo can support both.
Boot-up process
The boot-up process is shown in following figure.
Note:
►The letters in the parenthesis means the objects which can used in this status:
a. NMT ，b. Node Guard ，c. SDO ，d. Emergency ，e. PDO ，f. Boot-up
► State transition（1-5 are sent by NMT service）,NMT command as shown in the parenthesis:
1：Start_Remote_node (0x01)
2：Stop_Remote_Node (0x02)
3：Enter_Pre-Operational_State (0x80)
4：Reset_Node (0x81)
5：Reset_Communication (0x82)
6：Initialization finish,enter pre-operational status and send boot-up message.
NMT management message can be used to change the modes.Only NMT-Master node can send NMT
Module Control message,and all slave must support NMT Module Control service,meanwhile NMT Module
Control message needn’t response.The format of NMT message is as follows:
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