CANopen Mode ASDA-B3
11-14
11
11.2.2.6 NMT services
State machine
The NMT state machine is shown as follows. After the servo drive completes the Initialization
state, it enters the Pre-operational state. The NMT state machine determines the behavior of the
communication function, such as PDO functions only in the Operational state.
Initialization
Pre-operational
Stopped
Operational
Power On or Hardware Reset
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
State
Description
Initialization
The servo drive successfully completes initialization after being powered on
without errors occurring. The packet could still not be transmitted in this state.
Pre-operational
Data can be exchanged with SDO. If an alarm occurs in the servo drive,
an emergency message is sent to notify the controller.
Stopped
SDO and TxPDO data packets can be used to exchange data with the
controller.
Operational
This state allows for all data exchanges including SDO and PDO (TxPDO and
RxPDO).
The following table shows the communication objects that can be used for each communication
state:
Communication object
Initialization
Pre-operational
Operational
Stopped
PDO
V
SDO
V
V
Synchronization object
V
V
Emergency object
V
V
Boot-up object
V
NMT object
V
V
V
Содержание ASDA-B3 Series
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