D301087 0308 - BL20 CANopen 4-9
Setting up communication
4
5, 8 Stop Remote Node (stop the CAN node)
The internal change of state of the CANopen slave now requires
a pause of at least 20 ms, before another request may be made
by the master.
9, 10, 11 Reset Node (reset the complete CAN node)
The execution of this command is confirmed by a boot-up
message. This is in the form of a guard frame with the data
contents 00
hex
.
12, 13, 14 Reset Communication (reset communication for the
CAN node)
The execution of this command is confirmed by a boot-up
message. This is in the form of a guard frame with the data
contents 00
hex
.
Byte 0
Master
Slave
COB-ID = 0
Byte 1
Node-
ID
cs = 2
Byte 0
Master
Slave
COB-ID = 0
Byte 1
Node-
ID
cs = 129
Byte 0
Master
Slave
COB-ID = 0
Byte 1
Node-
ID
cs = 130
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