
33
85201A_RK5C_User Manual_02-2017_ENG
All possible NMT states and state transitions are shown in the following figure.
Figure 45 - NMT states and state transitions
6.3 NMT STATES AND COMMUNICATION OBJECTS
Specific services can only be executed if the devices involved in the communication are in the appropriate communica-
tion states. The relationship between communication states and communication objects is shown in the following table.
Object
Reset
application
Reset
communication
Pre-
operational
Operational
Stopped
PDO
X
SDO
X
X
Boot up
X
SYNC
X
X
EMCY
X
X
NMT error control (Heartbeat)
X
X
X
NMT node control
X
X
Table 10 - NMT states and communication objects
6.4 Restricted CAN-IDs
Restricted CAN-ID can’t be used as a CAN-ID by any configurable communication object, neither for SYNC, EMCY,
PDO, and SDO. They are listed in the following table.
CAN-ID
used by COB
0 (000h)
NMT
1 (001h) – 127 (07Fh)
reserved
257 (101h) – 384 (180h)
reserved
1409 (581h) – 1535 (5FFh)
default SDO (tx)
1537 (601h) – 1663 (67Fh)
default SDO (rx)
1760 (6E0h) – 1791 (6FFh)
reserved
1793 (701h) – 1919 (77Fh)
NMT error control
1920 (780h) – 2047 (7FFh)
reserved
Table 11 - Restricted CAN-IDs