23/95
User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
The 2
nd
byte of the data field contains the node identifier of the device concerned by the request. Its value must be
between 0
H
and 7F
H
. The 0
H
value means that the NMT command concern all the nodes of the network.
The 1
st
byte codes the command sent to the node. There are five existing commands supported:
« Start node »: 01
H
. eNod4 is set into operational state
« Stop node »: 02
H
. eNod4 is set into stopped state
« Reset node »: 81
H
. Resets eNod4 (with the same effects as a power-up), back into
initialization state.
« Reset communication »: 82
H
. Back into initialization state and communication parameters
reset.
« Enter pre-operational mode »: 80
H
. eNod4 is set into pre-operational state
5.5.2 Synchronization messages
SYNC messages are emitted on the bus by a producer node (generally the NMT master). This service is unconfirmed so
the consumer nodes do not have to respond to SYNC messages. A SYNC message does not carry any data (DLC = 0).
eNod4 is only seen as a SYNC messages consumer whose COB-ID is stored at index 1005
H
, sub-index 00
H
of the object
dictionary.
5.5.3 Emergency messages
eNod4 internal errors are reported via emergency frames. Two types of errors can trigger the transmission of an
emergency message:
▪ communication errors
▪ A/D converter input signal range exceeded
Every emergency frame is built as follows:
Emergency message is an unconfirmed service. A frame is emitted when a new error occurs and when it is
acknowledged. The table below describes the emergency standard codes supported by eNod4-T and the translation of
the additional information bytes (in ASCII):
To Next Page
Loading...
