98 • CANopen
Network
Communication
WAGO-I/O-SYSTEM
750
CANopen
4.3.3.1.3 Enter Pre-Operational
This service is used to change the status of the NMT Slave (bus coupler) to
PRE-OPERATIONAL.
N
MT Master
Enter Pre
-
Operat
i
ona
l
N
MT S
l
ave(s)
request
i
nd
i
cat
i
on(s)
CS
=
128
COB
-I
D
=
0
N
ode
I
D
0
1
Fig. 4-14: Enter PRE-OPERATIONAL
g012417x
Node ID = 0: The state of all existing nodes is changed to
PRE-OPERATIONAL.
4.3.3.1.4 Reset Node
In this service a reset is performed with the NMT Slave (bus coupler).
N
MT Master
Reset Node
N
MT S
l
ave(s)
request
i
nd
i
cat
i
on(s)
CS
=
129
COB
-I
D
=
0
N
ode
I
D
0
1
Fig. 4-15: Reset Node
g012418x
Node ID = 0: a reset of all existing nodes is performed.
4.3.3.2 Error Control Protocols
These protocols permit the detection of possible errors in the network. In this
manner the master can check whether a node is still in the status defined by it
or if it has changed to a different status, for instance following a reset.
