Chapter 4. Data Communication Protocol of the CANopen
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The above table presents the conditions for status transfer. The NMT Service
means those converted by the NMT command frame.
4.2.1 NMT state initialization
The Initialization also is divided into 3 modes.
Initializing
: the beginning status of the Option, which is the initialization
stage after Power-On or H/W Reset.
Reset Application
: NMT requested Node Reset. The initialization is
conducted according to the profile.
Reset Communication
: NMT requested Communication Reset, and notice
the Master of boot-up via NMT frame. This state is transferred to Pre
Operational automatically.
4.2.2 NMT state Pre-operational
Before PDO communication, the PDO information is sent by the Master to
the Slave via SDO, or necessary data is read. In this state, the PDO
communication is being prepared via SDO.
