8-31
Operation mode
Stop mode
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(11)
(14)
Initialization
Boot up
(1)
Reset application
(15)
Reset communication
(16)
Pre-operation mode
(10)
(9)
(13)
Steps Definition Command specifier
(1) Automatic initialization
(2)
Enter pre-operation mode
automatically
(3),(6) Open remote node 01
(4),(7) Enter pre-operation mode 80
(5),(8) Enter stop mode 02
(9),(10),(11) Reset node 81
(12),(13) ,(14) Reset communication 82
2. Equipment monitoring
Monitoring equipment (error control) services and protocols are used to detect if the equipment in
the network is online and its status. CANopen system provides heartbeat message that can be applied to
monitor equipment. The heartbeat message sends one or multiple equipment information regularly;
devices monitor each other.
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