HD1-E CANopen instruction manual
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7.2 State shift
HD1-E-COP supports start-up sequence defined by CANopen communication protocol. The following diagram is about NMT state shift
of HD1-E-COP.
Fig 4 NMT state shift
Table7 NMT state shift
State shift
Trigger action in need
(1)
Automatically initialize after powering on
(2)
Automatically shift after initialization
(3) (6)
NMT master station starts remote node command
(4) (7)
NMT master station enters pre-operation state command
(5) (8)
NMT master station enters stop state command
(9) (10) (11)
Reset remote node command of NMT master station
(12) (13) (14)
Reset remote node communication parameter command of NMT master station
HD1-E-COP supports different services in different states, as shown in Table 8.
Table 8 Avaliable service in various NMT states
Service
Pre-operation state
Operation state
Stop state
PDO
No
Yes
No
SDO
Yes
Yes
No
SYNC
Yes
Yes
No
EMCY
Yes
Yes
No
NMT
Yes
Yes
No
Error control
Yes
Yes
Yes
