Baumer GNAMG Series Podręcznik - Strona 12
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The various NMT states
Init
After boot-up the inclination sensor will give a BootUp message at the CAN bus. Then the inclination sensor
will automatically go to PreOperational mode.
The COB-ID of the BootUp message is composed by 700h and the Node-ID.
COB-ID
Byte 0
700h + Node-ID 00
Pre-Operational Mode
Read and write of SDO's is in Pre-Operational mode.
Operational Mode
In Operational mode the inclination sensor is transmitting the requested PDO's. In addition, this mode is for
read and write SDOs.
Stopped oder Prepared Mode
NMT communication is only possible in Stopped Mode. Read and write SDO parameters is disabled. LSS is
also only available in Stopped Mode.
Changing the operational state
Start Remote Node (1)
The start command will set the inclination sensor to operational mode.
COB-ID
Command byte
0
1h
Stop Remote Node (2)
The stop command will set the inclination sensor to stopped mode or prepared mode.
COB-ID
Command byte
0
2h
Enter Pre-Operational Mode (3)
Change to Pre-Operational Mode.
COB-ID
Command byte
0
80h
Reset Remote Node (4) or Reset Communication (5)
The reset command will re-init the inclination sensor.
Reset Remote Node (4):
COB-ID
Command byte
0
81h
Reset communication (5):
COB-ID
Command byte
0
82h
Manual_GNAMG_CANopen_EN.doc
21.11.12
Node-ID
0..127
Node-ID
0..127
Node-ID
0..127
Node-ID
0..127
Node-ID
0..127
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Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany