5.5 eNod4 status remote management
For the CANopen® network, eNod4 is considered as a NMT slave. It means that its state can be modified by a NMT
master present on the bus.
As other CANopen® nodes, eNod4 can be set into one of the four existing states, allowing or forbidding the
reception/emission of CAN messages.
These four states constitute the following NMT state machine:
▪ read/write requests : SDO (Service Data Object)
▪ real time transfers : PDO (Process Data Object)
▪ nodes state management : NMT (Network Management)
▪ warnings : EMCY (Emergency)
▪ synchronization events : SYNC (Synchronization)
▪ node status indications : Boot-up/Heartbeat and Node guarding
▪
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