Festo CESA-GW-AS-CO, Installation And Operation Manual

Page: 66 / 83

CESA-GW-AS-CO Description
66
All nodes of the network can be started simultaneously with following telegram:
The following telegram takes the module with node-ID 12 back to the "Pre Opera-
tional" mode:
transition
(see above) term command specifier (cs) function
(6) Start_Remote_Node
indication 1
dez
= 01
h
starts module, open outputs, starts
transmission of PDOs
(8) Enter_Pre-Operational_
State indication 128
dez
= 80
h
stops PDO transmission, SDO
transmission stays active
(10) Reset_Node indication 129
dez
= 81
h
leads to a reset (including the appli-
cation)
(11) Reset_Communication
indication 130
dez
= 82
h
leads to a reset of the communica-
tion functions
(12) initialisation finished -
enter "Pre Operational" - automatic transition to the
"Pre Operational" state
Tab. 8-14.
CAN header
byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 hex
byte 0 0 0 0 0 0 0 0 0 00
byte 1 0 0 0 0 0 0 1 0 02
Tab. 8-15.
CAN data
byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 hex
byte 2 0 0 0 0 0 0 0 1 01
byte 3 0 0 0 0 0 0 0 0 00
byte 4
byte 5
byte 6
byte 7
byte 8
byte 9
Tab. 8-16.
CAN header
byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 hex
byte 0 0 0 0 0 0 0 0 0 00
byte 1 0 0 0 0 0 0 1 0 02
Tab. 8-17.