Appendix C CANopen Protocol
C-5
COB-ID Byte 0 Byte 1
0 Command specifier (CS)
Slave address
(0: Broadcast)
The command specifiers are listed below.
Command specifier (hex)
Function
01 Start the remote node
02 Stop the remote node
80 Enter the pre-operational state
81 Reset the application layer
82 Reset the communication
Error Control services
The error control service is used to detect the disconnection of the node in the network. The error
control services can be classified into two types, Heartbeat and Node Guarding. The PLC only
supports Heartbeat. For example, the master can detect the disconnection of the slave only after the
slave enables the Heartbeat service.
The Heartbeat principle is illustrated as follows. The Heartbeat producer transmits the Heartbeat
message according to the Heartbeat producing time which is set. One or more Heartbeat consumers
detect the message transmitted by the Heartbeat producer. If the consumer does not receive the
message transmitted by the producer within the timeout period, the heartbeat event generated
indicates that the CANopen communication is abnormal.
Boot-up services
After the slave completes entering the pre-operational state, it will transmit a Boot-up message, which
indicates the initializing is completed.
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