4 Protocol description
4.1.8 Stop node (NMT)
Syntax:
"[[sequence] [net] node] stop"
You use this command to switch the CAN network to the "Stop" state.
Example
// Request: Send stop command to NodeId = 1
1 stop
// Response: “OK”
OK
// Incoming CAN-Message with CobId = 0x701; Data Length = 1;
// Data = 4
:>701 1 4
4.1.9 Set node Pre-Operational (NMT)
Syntax:
"[[sequence] [net] node] preop[erational]"
You use this command to switch the CAN network to the "Pre-Operational" state in which you can change
the PDO mapping.
Example
// Request: Set NodeId = 1 to pre-operational
1 preop
// Response: “OK”
OK
// Incoming CAN-Message with CobId=0x701; Data Length=0x1;
Data=0x7F
:>701 1 7F
4.1.10 Reset node (NMT)
Syntax:
"[[sequence] [net] node] reset node"
You use this command to reset the CAN node.
Example
// Request: Send Reset Node to NodeId = 1
1 reset node
// Response: “OK”
OK
// Incoming CAN-Message with CobId=0x701; Data Length=0x1;
Data=0x0
:>701 1 0
Version: 1.0.0
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