CANopen & CANlink Communication
‑47‑
network device address, which occupies one byte. When it is 0, the message is a
broadcast message for all slave devices in the network.
For example, the command for setting a device with device address "6" to
operable state is "0x0000x010x06".
Table 4–1 NMT message format
COB‑ID RTR Data0 Data1
0x000 0
Command word Node ID
Table 4–2 NMT message command format
Command
Description
0x01
Start the remote node.
0x02
Stop the remote node.
0x80
Enter pre‑operation state.
0x81
Reset the node.
0x82
Reset communication.
● NodeGuarding message
With the NodeGuarding service, the NMT master can check the current state of all
nodes. This service can detect whether data transmission of the nodes is available.
The standard protocol objects 0x100C and 0x100D respectively set the guard time
and the guard time multiplicative factor, which together determines the node
guarding time period.
"
Table 4–3 Frame sent by the NodeGuarding master
"
on page 47
describes the
remote frame sent by the NMT master.
Table 4–3 Frame sent by the NodeGuarding master
COB‑ID RTR
0x700+Node‑ID
1
"
Table 4–4 Response message returned by the NodeGuarding slave
"
on page 47
is
the response message returned by the NMT slave. "
Table 4–5 Status word returned
by the NodeGuarding slave
"
on page 48
describes the status word in the one‑byte
format.
Table 4–4 Response message returned by the NodeGuarding slave
COB‑ID RTR Data0
0x700+Node‑ID
0
Status word
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