Baumer GIM700DR Manual - Page 12

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Description of the NMT command

The commands are transmitted as unconfirmed objects and are structured as follows:

Identifier

Byte 0

COB-ID = 0

Command byte

The COB-ID for NMT commands is always zero. The Node-ID is transmitted in byte 1 of the NMT command.

Command byte

Description

01h

Start remote node

02h

Stop remote node

80h

Enter pre-operational state

81h, 82h

Reset remote node

The node number corresponds to the Node-ID of the required users. With node number = 0, all users are

addressed.

NMT state event

Following initialization, the sensor is in the pre-operational state. In this status, SDO parameters can be read

and written. In order to request PDO parameters, the sensor must first be moved to the operational state.

Power on or hardware reset

Power on oder Hardware Reset

BootUp Message

4/5

Pre-Operational

4/5

Operational

The various NMT states

Init

Following initialization, the sensor logs on to the CAN bus with a Boot Up message. The sensor then goes

automatically to the pre-operational state.

Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx

27.04.21

Byte 1

Node-ID

Init

Stopped/Prepared

In state event drawing

4, 5

4/5

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