Motion iWMC Series - Page 53

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Boot-up process
During the process of internet inialisaon, CANOpen support extending boot-up and support min boot-up process. The
boot-up process is shown in following gure 7-18.
Figure 7-18 Boot-up process
Note: The leers in parentheses in the gure indicate the communicaon objects that can be used when in dierent states.
a——NMT
d——Emergency
b——Node Guard
e——PDO
c——SDO
f——Boot-up
Only the NMT-Master node can transmit NMT Module Control messages, all slave devices must support NMT Module
Control services, and NMT Module Control messages do not need to be answered. Aer inialisaon, the device
automacally enters the Pre_Operaonal state and sends a boot-up message. The NMT message format is as follows:
NMT-Master→ NMT Slave (s)
Table 7-19 NMT Management message format
COB-ID
Byte0
Byte1
0x000
CS
Node-ID
When Node-ID is 0, all NMT slave devices are addressed. CS is command, value table is shown in table 7-20.
Table 7-20 Value table
Command
NMT service
0x01
Open node
0x02
Close node
0x80
Come to pre-operaon
status
0x81
Reset node
0x82
Reset communicaon
Descripon of the emergency message