Baumer GXP5W Manuel - Page 11

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Baumer GXP5W Manuel

3.4.6. Network management services

The network management can be divided into two groups:
With the NMT services for device control, the bus nodes can be initialized, started and stopped.
In addition, there are also NMT services for connection monitoring.
Description of NMT commands
The commands are transferred as unconfirmed objects and are structured as follows:
Byte 0
Byte 1
COB-ID = 0
Command Byte
COB-ID for NMT commands is always zero. The Node-ID is transmitted in Byte 2 of the NMT command.
Command Byte
Command Byte
Description
01h
Start Remote Node
02h
Stop Remote Node
80h
Enter Pre-Operational Mode
81h, 82h
Reset Remote Node
The node number corresponds to the Node-ID of the desired node. With none number = 0 all nodes are
addressed.
NMT State Event
Following initialization the encoder is in the Pre-Operational mode. In this state SDO parameters can be read
and written. To request PDO parameters, the encoder must first be run in the Operational Mode state.
Power on or Hardware Reset
BootUp Message
4/5
Pre-Operational
1
4/5
Operational
Manual_GXP5_417_Lift_EN.doc
04.05.11
Byte 2
Node Number
Init
2
3
Stopped/Prepared
1
2
In State Event Drawing
1
2
3
4, 5
4/5
3
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Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany