Operating Instructions

CANopen Overview
CANopen Overview
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● PDO (Process Data Objects)
● 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. 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 the reset application state
(16) Automatically enter the 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
○
○