Communication91Inside the CANopen data frame, different types of CommunicationObjects are used to convey the data. Process Data Objects (PDO)are used for transmitting time critical process data (references,control commands, status information); Service Data Objects(SDO) are used for less time critical data, for example,parameters. In addition, there are Special Function Objects andNetwork Management Objects.FCAN-01 boot-up sequence and Network Management (NMT)The FCAN-01 supports the boot-up sequence of a “MinimumCapability Device”, as defined by the CANopen CommunicationProfile. The boot-up state diagram of the FCAN-01 is shownbelow.InitialisationReset application(13)(10)(11)(14)Power on(12)(6) (8)(8)(7)(7)(6)Reset communicationInitPre-operationalStoppedOperational(6) Start_Remote_Node indication(7) Stop_Remote_Node indication(8) Enter_Pre-Operational_State indication(10) Reset_Node indication(11) Reset_Communication indication(12) After Initialisation is finished(13) (14) After Reset is performed
