CANopen Slave Enabling Command
Original instructions
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Overview
The Slave Enable / Disable command is used to disable a device which is configured or enable a device which as been already disabled by calling this function before.
Slave Enable / Disable Command
This table shows the header of the Slave Enable / Disable command:
Value (hex)
CIP generic message parameter
67
Class ID
40
Service Number
1
Instance
x
Length
This table shows the command data for the Slave Enable / Disable:
Value
Size
Parameter
Command data
0...2
SINT
For node ID 1:
  • 0: Do not change state
  • 1: Enable slave
  • 2: Disable slave
...
...
For node n
[0...2]
SINT
For node ID 126:
  • 0: Do not change state
  • 1: Enable slave
  • 2: Disable slave