CAN in AutomationCANopen
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What is CANopen NMT used for?
What is CANopen NTM consists of and what are the states of the communication protocol?
CAN in AutomationCANopen
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CANopen Network Management (NMT) is a slave state machine that defines the communication behavior of a CANopen device.
The NMT state machine consists of these states:
- Initialization state - the device enters after power-up
- Pre-operational state - an indication that is ready to work and starts sending messages
- Operational state - PDO communication is only possible in this state
- Stopped state - a device in this state can only reach to received NMT commands
The NMT protocol is transmitted by the NMT master that is active in a CANopen network, forcing the CANopen devices to transit into the commanded NMT state upon receiving an NMT message.
NMT protocol message consists of a single CAN frame with 2 bytes length, where the first byte is the command specified and the second carries the Node-ID of the device that needs to perform the command (if the Node-ID is 0, all nodes have to perform the command).
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