Delta Electronics VFD037CH23A-21 — обзор протокола CANopen: управление сетью и данные [423/638]
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Delta Electronics VFD037CH23A-21 — обзор протокола CANopen: управление сетью и данные [423/638]

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Delta Electronics VFD037CH23A-21 [423/638] 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 sla...
Chapter 15 CANopen Overview C2000 Series
15-4
CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)
SDO (Service Data Objects)
PDO (Process Data Object)
EMCY (Emergency Object)
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 is shown as follows:
Reset Communication
Initializing
Reset Application
Pre-Operation ABCD
Stopped AB
Operation ABCD
(1)
(15)
(16)
(2)F
(14)
(13)
(12)
(3) (4)
(11)
(10)
(9)
(7)
(5)
(6)
(8)
(1) After power is applied, it is auto in initialization state
(2) Enter pre-operational state automatically
(3) (6) Start remote node
(4) (7) Enter pre-operational state
(5) (8) Stop remote node
(9) (10) (11) Reset node
(12) (13) (14) Reset communication
(15) Enter reset application state automatically
(16) Enter reset communication state automatically
A: NMT
B: Node Guard
C: SDO
D: Emergency
E: PDO
F: Boot-up
Initializing Pre-Operational Operational Stopped
PDO ○
SDO ○ ○
SYNC ○ ○
Time Stamp ○ ○
EMCY ○ ○
Boot-up ○
NMT ○ ○ ○

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Изучите протокол CANopen, его услуги и структуру управления сетью. Узнайте о NMT, SDO, PDO и EMCY для эффективного управления узлами.