Basic of CAN
Parameter manual b maXX
®
1000
Document no. 5.07004.03 Baumüller Nürnberg GmbH
176
of 208
B.3
1 Automatic transition from INITIALIZATION to PRE-OPERATIONAL
Note: At transition from PRE-OPERATIONAL to OPERATIONAL the parameter numbers are assigned to
mapping. This assignment is time-consuming and can last several milliseconds, during this time no PDO is
send and also no receive PDO is processed.
2 Start_Remote_Node
3 3Stop_Remote_Node
4 Enter_Pre-Operational_State
5 Reset_Node
6 Reset_Communication
m State Control
Two data bytes are transmitted per message frame. Data byte 0 contains the command specifier CS, data byte
1 contains the device address. If the address 0 is entered, then all nodes will be addressed with the appropriate
command (broadcast).
NMT message frame for controlling the communication states:
Figure 69: NMT message frame
Command specifiers and their effects on the slave:
CS Identification Effect
1 Start_Remote_Node Starts normal operation
2 Stop_Remote_Node Deactivates PDO and SDO communication
128 Enter_Pre-Operational_State Transition to configuration mode
129 Reset_Node Controlled reset of entire object directory to
default values
130 Reset_Communication Reset of the communication section of the
object directory to default values
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