AM58K CANopen®
6.4 NMT objects
NMT structure:
COB-ID (11 bit)
2 CAN Data Bytes
Func.code Node ID
Command
Slave ID
0000
0
NMT Func.
Slave ID
If Slave ID = 00h, the NMT message is issued to all network nodes.
NMT Function:
Command
NMT Function
State node
01 hex
Start remote node
Operational
02 hex
Stop remote node
Stopped
80 hex
Enter pre-operational
Pre-operational
81 hex
Reset node
Pre-operational
82 hex
Reset communication
Pre-operational
6.5 Boot-up objects
Boot-up message structure:
COB-ID(hex)
1 CAN Data Bytes
700+Node ID
00
MAN AM58K CB E 1.1.odt
25
6 - CANopen® interface
