IK360 -CAN
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Date: 23.01.2017 Page 8 of 41 Art.no. 86089 Mod. Status 10/17
3.1.3
Mode: Stop Operation
The device goes into the "Stopped" state on receiving the "Node stop" indication (NMT service),
if it was in "Pre-Operational" or "Operational" state. In this state, the device cannot be
configured. No service is available to read and write device-related data (SDO). Only the slave
monitoring function "Node Guarding" remains active.
To put one or all nodes in the stop operational state, the master has to send the following
message:
Identifier
Byte 0
Byte 1
Description
0h
02h
00h
NMT: Stop Remote Node, all nodes
0h
02h
NN (in hex)
NMT: Stop Remote Node, NN
NN: node number
3.1.4
Reset of the inclinometer
If a node is not operating correctly, it is advisable to carry out a reinitialization.
Identifier
Byte 0
Byte 1
Description
0h
81h
00h
NMT: Reset Node
0h
81h
NN (in hex)
NMT: Reset Node
NN: node number
After reinitialization the inclinometer accesses the bus in pre-operational mode.
3.1.5
Reset communication of the inclinometer
If the communication of a node is not operating correctly, it is advisable to carry out a reset of
the communication.
Identifier
Byte 0
Byte 1
Description
0h
82h
00h
NMT: Reset Communication
0h
82h
NN (in hex)
NMT: Reset Communication
NN: node number
After reset of the communication, the inclinometer accesses the bus in pre-operational mode.
3.2
Transmission modes
Polled mode
By a remote-transmission-request telegram the connected host calls
for the current process value. The inclinometer reads the current
position value, calculates eventually set-parameters and sends back
the obtained process value by the same identifier.
Cyclic mode
The inclinometer cyclically transmits (without being called by the
host) the current process value. The cycle time can be programmed
in milliseconds for values between 0 ms and 65536 ms.