Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
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3.2 CANopen communication services
3.2.1 NMT (Network Management) services
The Network Management is structured according to nodes and follows a master-
slave structure.
NMT Master
012
CS Node-ID
COB-ID = 0
Request
NMT Slave(s)
Indication(s)
Indication
Indication
Indication
Fig. 3-1 NMT protocol
Nodes are initialized, started, monitored, reset or stopped using the NMT services.
MICROMASTER is an NMT slave.
The following sketch shows the switched communications network of the option
module CANopen.
Power On or Hardware Reset
(1)
(2)
(3)(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
Initalisation
Pre-Operational
Operational
Stopped
Fig. 3-2 CANopen switched communications network
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