Delta Electronics VFD-E manual CANopen Communication Protocol, NMT Network Management Object

Appendix E CANopen Function

Object	Function Code	Node Number	COB-ID	Object Dictionary
				Index
TPDO1	0011	1-127	0x181-0x1FF	0x1800
RPDO1	0100	1-127	0x201-0x27F	0x1400
TPDO2	0101	1-127	0x281-0x2FF	0x1801
RPDO2	0110	1-127	0x301-0x37F	0x1401
TPDO3	0111	1-127	0x381-0x3FF	0x1802
RPDO3	1000	1-127	0x401-0x47F	0x1402
TPDO4	1001	1-127	0x481-0x4FF	0x1803
RPDO4	1010	1-127	0x501-0x57F	0x1403
Default SDO (tx)	1011	1-127	0x581-0x5FF	0x1200
Default SDO (rx)	1100	1-127	0x601-0x67F	0x1200
NMT Error	1110	1-127	0x701-0x77F	0x1016, 0x1017
Control

E.1.4 CANopen Communication Protocol

It has services as follows:

„NMT (Network Management Object)

„SDO (Service Data Object)

„PDO (Process Data Object)

„EMCY (Emergency Object)

E.1.4.1 NMT (Network Management Object)

The Network Management (NMT) follows a Master/Slave structure for executing NMT service. Only one NMT master is in a network, and other nodes are regarded as slaves. All CANopen nodes have a present NMT state, and NMT master can control the state of the slave nodes. The state diagram of a node are shown as follows:

E-4 Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11