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CANopen Mode

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ASDA-A3

12.2.2.6 NMT services

12

 State machine

The NMT state machine is shown as follows. After the servo drive completes the initialization, it

enters the Pre-Operational state. The NMT state machine determines the behavior of the

communication objects, such as PDO functions only in the Operational state.

Power On or Hardware Reset

(1)

(14)

(13)

(12)

Initialization

(2)

Pre-Operational

(11)

(7)

(4) (5)

(10)

Stopped

(3)

(6)

(8)

Operational

(9)

Status

Initialization

Pre-Operational

Stopped

Operational

Description

The servo drive successfully completes initialization after being powered on

without errors occurring. The packets cannot yet be transmitted in this state.

Data can be exchanged with SDOs. If an alarm occurs in the servo drive, an

emergency message is sent to notify the controller.

The servo drive can use SDO and TxPDO data packets to exchange data with

the controller.

All data exchanges including SDOs and PDOs (TxPDOs and RxPDOs) are

allowed.

The following table shows the available communication objects in each communication state:

Communication object

PDO

SDO

Synchronization object

Emergency object

Boot-up object

NMT object

Initialization

V

Pre-Operational

V

V

V

V

Operational

V

V

V

V

V

Stopped

TxPDO

V

V

12-14

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