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CANopen Network ManagemenT (NMT)

NMT command specifier, sent by master to change a slave/all slaves state.

NMT_Start_Node      0x01
NMT_Stop_Node       0x02
NMT_Enter_PreOP     0x80
NMT_Reset_Node      0x81
NMT_Reset_Comm      0x82

Master发送NMT命令要求Node-ID为03的节点进入ProOP状态，ID:00, Length:02, Content:80 03

Master发送NMT命令要求Node-ID为03的节点进入OP状态，ID:00, Length:02, Content:01 03

Master发送NMT命令要求所有节点进入ProOP状态，ID:00, Length:02, Content:80 00

Master发送NMT命令要求所有节点进入OP状态，ID:00, Length:02, Content:01 00

节点使用Heartbeat进行状态播报

Initialisation      0x00
Disconnected        0x01
Connecting          0x02
Preparing           0x02
Stopped             0x04
Operational         0x05
Pre-Operational     0x7F
Unknown-State       0x0F

Node-ID为03的节点发送Heartbeat，播报已进入OP状态，ID:703, Length:01, Content:05

Node-ID为03的节点发送Heartbeat，播报已进入PreOP状态，ID:703, Length:01, Content:7F