CANopen Data Communication Protocol
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4.2.1 NMT State "Initialization"
Once power is supplied to a CANopen device or a Reset command is executed, the
device automatically enters an "Initialization" state. When the initialization is complete,
it enters a "Pre-operational" state.
The "Initialization" state can be divided into 3 detailed modes.
Sub-State
Description
Initializing
The initial status of the communication module which is the
initialization stage after a power-on or a H/W reset.
Reset Application
Status of the device when the NMT requests a node reset. The
initialization is performed according to the profile.
Reset Communication
Status of the device when the NMT requests a communication
reset. The device notify the master device of its boot-up via the
NMT frame and automatically enters a "Pre-operational" state.
4.2.2 NMT State "Pre-operational"
Prior to PDO communication, the master device transmits the PDO information to the
slave device or reads the required data from the slave device via SDO communication.
This is the step for preparing PDO communication via SDO communication before
starting PDO communication.
In this state, when a Start_Remote_Node command is received from the NMT master
device, the device enters an "Operational" state.
4.2.3 NMT State "Operational"
Once the device enters an "Operational" state, all communication objects become
"Active," and SDO communication, Synchronization, Error Control, and Emcy
Message, as well as PDO communication become available.
In this state, when a Stop_Remote_Node command is received from the NMT master
device, the device enters a "Stopped" state.