CANopen
• 97
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
4.3.3 Network Management Objects
4.3.3.1 Module Control Protocols
The NMT master can use these protocols to check the status of the NMT
slave. The following states are defined: INITIALIZING, PRE-
OPERATIONAL, OPERATIONAL and STOPPED. It is possible to change
the status of all nodes with one command or to change the status of each node
individually.
4.3.3.1.1 Start Remote Node
This service is used to change the NMT Slave (bus coupler) status to
OPERATIONAL.
N
MT Master
Start Remote Node
N
MT S
l
ave(s)
request
i
nd
i
cat
i
on(s)
CS
=
1
COB
-I
D
=
0
N
ode
I
D
0
1
Fig. 4-12: Start Remote Node
g012415x
Node ID = 0: The state of all existing nodes is changed to OPERATIONAL.
4.3.3.1.2 Stop Remote Node
This service is used to change the NMT Slave (bus coupler) status to
STOPPED.
N
MT Master
Stop Remote Node
N
MT S
l
ave(s)
request
i
nd
i
cat
i
on(s)
CS
=
2
COB
-I
D
=
0
N
ode
I
D
0
1
Fig. 4-13: Stop
Remote Node
g012416x
Node ID = 0: The state of all existing nodes is changed to STOPPED.