E-5
E.1.4 CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)
SDO (Service Data Object)
PDO (Process Data Object)
EMCY (Emergency Object)
E.1.4.1 NMT (Network Management Object)
The Network Management (NMT) follows a Master/Slave structure for executing NMT
service. Only one NMT master is in a network, and other nodes are regarded as
slaves. All CANopen nodes have a present NMT state, and NMT master can control
the state of the slave nodes. The state diagram of a node are shown as follows:
Reset Communication
Initializing
Reset Application
Pre-Operation ABCD
Stopped AB
Operation ABCD
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(2)F
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