Vacon CANopen OPTE6, Руководство пользователя

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vacon • 10 CANopen protocol description
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3.2 Node control protocols
Protocol start remote node
The start remote node message sets the node(s) into operational state. See Figure 1. NMT state
machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast).
Protocol stop remote node
The stop remote node message sets the node(s) into stopped state. See Figure 1 NMT state
machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). When
the node is in stopped state, it will not answer to SDO or PDO messages.
Protocol enter pre-operational
The enter pre-operational message sets the node(s) into pre-operational state. See Figure 1. NMT
state machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast).
When the node is in pre-operational state, it will not answer to PDO messages.
Protocol reset node
The reset node message makes the node(s) apply application reset. See Figure 1. NMT state
machine. Application reset sets the whole object dictionary back to the default or previously saved
values. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). After
the node has made the application reset, it will enter the pre-operational state automatically from
the initialising state. This also creates a boot-up event and the boot-up message is sent after the
reset.
Table 2: Start remote node message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x1
NODE
ID
Table 3: Stop remote node message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x2
NODE
ID
Table 4: Enter pre-operational message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x80
NODE
ID
Table 5: Reset node message
CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x0 0x2 0x81
NODE
ID