Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
C-4
C
C.1 Node States
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Module control services
The master node in the CANopen network controls the slave by sending the command. The slave
executes the command after it receives the command and it does not need to reply. All CANopen
nodes have internal NMT states. The slave node has four states, Initializing, Pre-operational,
Operational, and Stop state.
The state of the device is illustrated below.
(1) After the power is supplied, the device automatically enters the initialization state.
(2) After the initialization is complete, the device automatically enters the Pre-operational state.
(3)(6) The remote node is started.
(4)(7) The device enters the Pre-operational state.
(5)(8) The remote node is stopped.
(9)(10)(11) The application layer is reset.
(12)(13)(14) The communication is reset.
(15) After the initializing is complete, the device automatically enters the “reset application” state.
(16) After the “reset application” state is complete, the device automatically enters the “reset
communication” state.
The relation between the communication object and the state is shown below. The communication
object service can be executed only in a proper state. For example, SDO can be executed only in the
operational state and in the pre-operational state.
Initialization Pre-operational Operational Stopped
PDO X
SDO X X
SYNC X X
Time Stamp X X
EMCY X X
Boot-up X
NMT X X X
The format of the control message for the node state: