BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-96
Table 45:
Structure of
object 1F81
hex
Slave assignment
Byte Bit Value Meaning
0 0 0 The node with this ID is not a slave.
1 The node with this ID is a slave. After config-
uration, the node will be put into the "Opera-
tional" state.
1 0 An error event or other event detection by a
slave during boot-up leads to information
from the application.
1 An error event or other event detection by a
slave during boot-up leads to information
from the application and to automatic start of
Error Control Services.
2 0 An error event or other event detection by a
slave during boot-up does not lead to infor-
mation from the application or automatic
start of Error Control Services.
1 An error event or other event detection by a
slave during boot-up leads to the start of
"Start Boot Slaves".
3 0 Optional Slave: the network can also be
started if this node is not connected.
1 Obligatory slave: the network will not be
started if this node is not connected during
the slave boot-up.
4 0 The slave can be reset by the "NMT Reset
Communication" command, depending on
its state.
1 The NMT-Master does not have to send an
"NMT Reset Communication" command for
this slave, if the slave is in the "Operational"
state.
To Next Page
Loading...
