(1)Start remote node
(2)Stop remote node
(3)Enter pre-operational
(4Reset communication
(5)Reset node
Value (hex)
|
READ_SDO command
|
WRITE_SDO command
|
---|---|---|
00
|
NMT state unknown
|
Reserved
|
01
|
CANopen device missing
|
Reserved
|
02
|
Reserved
|
|
03
|
Reserved
|
|
04
|
NMT state STOPPED
|
NMT service Stop remote node
|
05
|
NMT state OPERATIONAL
|
NMT service Start remote node
|
06
|
Reserved
|
NMT service Reset node
|
07
|
Reserved
|
NMT service Reset communication
|
08
|
Reserved
|
|
–
|
–
|
|
7E
|
Reserved
|
|
7F
|
NMT state PRE-OPERATIONAL
|
NMT service Enter pre-operational
|
80
|
Reserved
|
|
–
|
–
|
|
83
|
Reserved
|
|
84
|
NMT state STOPPED
|
NMT service Stop remote node
(excluding NMT master and requesting CANopen device)
|
85
|
NMT state OPERATIONAL
|
NMT service Start remote node
(excluding NMT master and requesting CANopen device)
|
86
|
Reserved
|
NMT service Reset node
(excluding NMT master and requesting CANopen device)
|
87
|
Reserved
|
NMT service Reset communication
(excluding NMT master and requesting CANopen device)
|
88
|
Reserved
|
|
–
|
–
|
|
8E
|
Reserved
|
|
8F
|
NMT state PRE-OPERATIONAL
|
NMT service Enter pre-operational
(excluding NMT master and requesting CANopen device)
|
90
|
Reserved
|
|
–
|
–
|
|
FF
|
Reserved
|
Value
|
Size
|
Parameter
|
---|---|---|
0: PLC
1...5: DTM
|
SINT
|
Connect ID
|
127
|
SINT
|
Node ID
|
1F82 hex
|
INT
|
Index
|
Node ID:
1...7F hex: Node ID targeted
80 hex: all nodes (broadcast)
|
SINT
|
Subindex
|
[1]
|
INT
|
Length
|
05 hex
85 hex (excluding master)
|
SINT
|
Data
|
Value
|
Size
|
Parameter
|
---|---|---|
0: PLC
1...5: DTM
|
SINT
|
Connect ID
|
127
|
SINT
|
Node ID
|
1F82 hex
|
INT
|
Index
|
Node ID:
1...7F hex: Node ID targeted
80 hex: all nodes (broadcast)
|
SINT
|
Subindex
|
[1]
|
INT
|
Length
|
04 hex
84 hex (excluding master)
|
SINT
|
Data
|