Eaton PowerXL Series, Communications Manual

Page: 131 / 256

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CANopen External Communication Cards
POWERXL SERIES VFD MN040010EN—June 2018 www.eaton.com
To set the connected node into the “Operational State,” the following message is required.
Table 129. Start remote node message
CAN ID LENGTH DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7
0x0 0x2 0x1 NODE ID
The stop remote message sets the node into a “Stopped State” indicated in the NMT state
machine. When the node ID in the message is set to “0,” the message broadcasts to all nodes on
the network.
Table 130. Stop remote node message
CAN ID LENGTH DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7
0x0 0x2 0x2 NODE ID
The pre-operation message sets the node into the “Pre-Operational state” indicated in the NMT
state machine. If the node ID in the message is set to “0,” it will broadcast to all nodes.
Table 131. Enter pre-operational message
CAN ID LENGTH DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7
0x0 0x2 0x80 NODE ID
The reset node message makes the nodes apply application reset. The application reset sets
the whole object dictionary back to the default or previously stored values. If the node ID in the
message is set to “0,” it will broadcast to all nodes. Upon a reset, the node will enter into the
“Pre-Operational state.”
Table 132. Reset node message
CAN ID LENGTH DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7
0x0 0x2 0x81 NODE ID
The reset communication message when sent to the node causes the communication reset.
This does not affect the object dictionary values. If the node ID in the message is set to “0,” it will
broadcast to all nodes. After the node has received the communication reset, it will enter into the
“Pre-Operational” state.
Table 133. Reset communication message
CAN ID LENGTH DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7
0x0 0x2 0x82 NODE ID