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Communication extension card CANopen communication card
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Different services are supported in different states, as described in Table 3-3.
Table 3-3 Services supported in various NMT states
Service
Pre-operation
state
Operation state Stopped state
PDOs No
Yes
No
SDOs Yes
Yes No
SYNC packets Yes
Yes No
Emergency packets Yes
Yes No
Network management Yes
Yes No
Error control Yes
Yes
Yes
3.4.3 Management service command (NMT)
This function is used by the master station to control the NMT states of slave station nodes.

Command
Master station -> slave station
COB-ID Byte0 Byte1
0x000 Command specifier (CS) Node-ID (Node ID)

Description
In this command, the COB-ID is 0×00. If Node-ID is set to 0, the command is broadcast to all
CANopen slave stations, and each slave station must execute the NMT command. Table 3-4
describes the function of each CS.
Table 3-4 Function of each CS
NMT CS NMT service (control action)
0x01 Starts a slave station device.
0x02 Stops a slave station device.
0x80 Enables a slave station to enter the pre-operation state.
0x81 Resets a slave station.
0x82 Resets communication of a node.

Example
For example, the command to enable EC-TX105, whose node ID is 3, to enter the
pre-operation state is described as follow.
COB-ID Byte0 Byte1
0x000 0x80 0x03
For another example, the command to start all EC-TX105 nodes on the CANopen network is
described as follows.