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To change the encoder into
Stopped state
, the "Stop remote node" command is used:
0
02h
02h
0
– 127
CAN-ID
DLC
Command Byte
Node-ID
Table 8.38: NMT command - Stop remote node
To switch the encoder into
Pre-Operational state
, the "Enter Pre-Operational State" command is used:
0
02h
80h
0
– 127
CAN-ID
DLC
Command Byte
Node-ID
Table 8.39: NMT command - Enter Pre-Operational-state
A
reset of communication
with a change into Pre-Operational after re-initialisation will be achieved by:
0
02h
82h
0
– 127
CAN-ID
DLC
Command Byte
Node-ID
Table 8.40: NMT command - Reset node communication
To perform a
soft reset
of the encoder, the "Reset Remote Node" is used. After the reset the encoder will send
his boot-up message and enter Pre-Operational by default:
0
02h
81h
0
– 127
CAN-ID
DLC
Command Byte
Node-ID
Table 8.41: NMT command - Reset remote node
8.4
Heartbeat set tings
To configure and start the producer heartbeat (e.g. heartbeat every 5000 milliseconds; 5000d=1388h) use SDO
on object 1017h:
600h+ID
8
2Bh
17h
10h
00h
88h
13h
00h
00h
CAN-ID
DLC Command
Object L Object H Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.42: Example of heartbeat setting
This is the structure of a heartbeat message:
700h+ID
1
d
NMT-Status
CAN-ID
DLC Data/Remote
Byte 0
Table 8.43: Structure of heartbeat message
NMT-state:
NMT-Status
Code
Boot-up
00h
Stopped
04h
Pre-Operational
7Fh
Operational
05h
Table 8.44: Heartbeat NMT-state-coding
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