DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
7-12
Reply code (hex) Description
80 Stopping the SDO function
¾ NMT (network management object)
The CANopen network management conforms to the “master/slave” mode. Only one NMT
master exists in the CANopen network, and other nodes are considered slaves. NMT realized
three services. They are module control services, error control services, and boot-up services.
Module control services
The master node in the CANopen network controls the slave by sending the command. The
slave executes the command after it received the command. It does not need to reply. All
CANopen nodes have internal NMT states. The slave node has four states. They are the
initialization state, the pre-operational state, the operational state, and the stop state. The
state of the device is illustrated below.
(1) After the power is supplied, the device automatically enters the initialization state.
(2) After the initialization is complete, the device automatically enters the Pre-operational
state.
(3)(6) The remote node is started.
(4)(7) The device enters the Pre-operational state.
(5)(8) The remote node is stopped.
(9)(10)(11) The application layer is rest.
(12)(13)(14) The communication is reset.
(15) After the initializing is complete, the device automatically enters the “reset application”
state.
(16) After the “reset application” state is complete, the device automatically enters the
“reset communication” state.
The relation between the communication object and the state is shown below. The
communication object service can be executed only in a proper state. For example, SDO
can be executed only in the operational state and in the pre-operational state.
Initialization Pre-operational Operational Stopped
PDO X
SDO X X
SYNC X X
Time Stamp X X
Initializing
Reset application
Reset communication
Pre-operational
Operational
Stopped
(1)
(15)
(16)
(2)
(3) (4)
(7)
(5)
(6)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
Initialization
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