Communication extension card
CANopen communication card
-20-
COB-IDs vary according to communication address, but for one command, the COB-IDs are
within a certain range.
Note:
The commands described in this manual are all data frames if it is not specified that
they are remote frames.
3.4.2 CANopen state transition
The start sequence defined in the CANopen communication protocol is supported. Figure 3-3
shows the NMT state transition diagram.
Initializing
Initializing
Reset
application
Reset
communication
Stopped
Pre-operation
Operation
(1)
(15)
(16)
(2)
(11)
(10)
(9)
(12)
(13)
(14)
(7)
(5)
(4)
(3)
(6)
(8)
Figure 3-3 NMT state diagram
Table 3-2 NMT state transition
State transition
Required triggering event
(1)
Automatic initialization after power-on
(2)
Automatic change after initialization
(3), (6)
Command of the NMT master station for starting a remote
node
(4), (7)
Command of the NMT master station for entering the
pre-operation state
(5), (8)
Command of the NMT master station for entering the
stopped state
(9), (10), (11)
Command of the NMT master station for resetting a remote
node
(12), (13), (14)
Command of the NMT master station for resetting a remote
node communication parameter
Summary of Contents for Goodrive350 Series
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