CANopen and CANlink Communication
‑40‑
is a command word occupying one byte, as shown in "
Table 3–2 NMT packet
command format
"
on page 40
. Data1 is a CANopen network device address
occupying one byte. When it is "0", it indicates a broadcast message that is sent to
all slave devices in the network
For example, to set a device with device address "6" to an operable state, you
need to use the command "0x0000x010x06"
Table 3–1 NMT packet format
COB‑ID RTR Data0 Data1
0x000 0
Command word Node ID
Table 3–2 NMT packet command format
Command
Description
0x01
StartRemoteNode
0x02
StopRemoteNode
0x80
EnterPre‑operationalState
0x81
ResetNode
0x82
ResetCommunication
● NodeGuarding packet
The current state of each node can be checked by an MNT master node using the
node protection service NodeGuarding. Especially, this service is relevant when
these nodes have no data to be transmitted.
The standard protocol object 0x100C sets Guard Time and 0x100D sets a product
factor of Guard Time. Both jointly determine the node protection time period
"
Table 3–3 NodeGuarding packet sent from the master node
"
on page 40
shows a
remote frame sent from the NMT master node.
Table 3–3 NodeGuarding packet sent from the master node
COB‑ID RTR
0x700+Node‑ID
1
"
Table 3–4 NodeGuarding response packet returned from a slave node
"
on page 40
shows a response packet returned from an NMT slave node. A status word
occupies one byte. "
Table 3–5 NodeGuarding return status
"
on page 41
shows the
format.
Table 3–4 NodeGuarding response packet returned from a slave node
COB‑ID RTR Data0
0x700+Node‑ID
0
Status word
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