Baumer GIM700DR Manuale - Pagina 13

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The COB-ID of the Boot Up message is made up of 700h and the Node-ID.
COB-ID
Byte 0
700h + Node-ID
00
Pre-operational state
In the pre-operational state, SDOs can be read and written.
Operational state
In the operational state, the sensor transmits the requested PDOs. In addition, SDOs can be read and writ-
ten.
Stopped or prepared state
In the stopped state, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped state.
Status change
Start remote node (1)
With the start command, the sensor is switched to the operational state.
COB-ID
Command byte
0
1h
Stop remote node (2)
With the stop command, the sensor is switched to the stopped state.
COB-ID
Command byte
0
2h
Enter pre-operational state (3)
Change to the pre-operational state.
COB-ID
Command byte
0
80h
Reset remote node (4) or reset communication (5)
With the reset command, the sensor is re-initialized.
Reset remote node (4):
COB-ID
Command byte
0
81h
Reset communication (5):
COB-ID
Command byte
0
82h
Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx
27.04.21
Node-ID
0...127
Node-ID
0...127
Node-ID
0...127
Node-ID
0...127
Node-ID
0...127
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