User Manual of EL6-CAN AC Servo
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communication profile, responsible of managing system elements related to CANopen communications.
5.3 NMT
The network management (NMT) protocols provide services for network initialization, error control and
device status control. NMT objects are used for executing NMT services. The NMT follows a master-slave
structure and therefore requires that one CANopen device in the network fulfils the function of the NMT
master. All other CANopen devices are regarded as NMT slaves. An NMT slave is uniquely identified in the
network by its Node ID, a value in the range of 1 to 127.
The NMT state machine defines the communication status for CANopen devices.
NMT state machine
Transition
Event
(1)
After power on the system goes directly to
initialization
state
(1)
Once
initialization
is completed the system enters to
Pre-operational
state
(3), (6)
Reception of
Start remote node
command
(4), (7)
Reception of
Enter pre-operational state
command
(5), (8)
Reception of
Stop remote node
command
(9), (10), (11)
Reception of
Reset remote node
command
(12), (13), (14)
Reception of
Reset communication
command
NMT state initialization
The initialization state could be divided into three sub-states that are executed in a sequential way: Initializing
(performs the basic CANopen initializations), Reset application (in where all manufacturer-specific and
standardized profile area parameters are set) and Reset communication (where the communication profile and
parameters are set).
