To sleep for a few minutes or a short period of time. A nap can be 10 minutes or 2 hours. A cat nap is a quick. short power nap. only 10 to 15 minutes long. Sleeping can be a nap as long as you don't sleep for longer than 3 hours.
A nap is a short sleep, so to take a nap means to relax and fall into a light sleep for a short while, it's usually just enough to allow you to wake refreshed and continue with the rest of the day until your normal bedtime.