Connections and Interfaces
- 28 -
23 10 10 01 73 61 76 65
DLC:
ID:
XXX
8
Saving all parameters
Master
CANopen
device
XXX = 600h + node-ID
Example: 604h for the device node-ID 4
ID:
DLC:
XXX
8
60 10 10 01 00 00 00 00
XXX = 580h + node-ID
Example: 584h for the device with node-ID 4
Acknowledgment of the CANopen device
Figure 21: Saving the parameters
10.2.6
Changing the Operating Modes
10.2.6.1
Changing the device into the Operational Mode
In the Operational Mode the communication of the device is fully functional.
The following CAN-message causes the change of all CANopen participants into the Operational Mode.
01 00
DLC:
ID:
000
2
Changing all participants into the Operational Mode
Master
CANopen
device
Figure 22: Changing the device into the Operational Mode
10.2.6.2
Changing the device into the Pre-operational Mode
In the Pre-operational Mode the communicating settings of the device are adjusted.
The following CAN-message causes the change of all CANopen participants into the Pre-Operational mode.
80 00
DLC:
ID:
000
2
Changing all participants into Pre-Operational Mode
Master
CANopen
device
Figure 23: Changing the device into the Pre-operational Mode
