Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual — Module control services, PDO SDO Sync

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

Reply code (hex)	Description
80	Stopping the SDO function

¾NMT (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)
		Initializing
Initialization		(15)
	Reset application
		(16)
	Reset communication
(14)		(2)			(11)
	Pre-operational		(7)		(10)
	(3)	(4)
(13)			(5)
					Stopped
			(6)	(8)
(12)					(9)
	Operational

(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

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