Baumer GIM500R Руководство - Страница 14

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0x0021

0x0022

0x0023

0x0024

0x0025

0x0026

0x0027

0x0028

0x0029

0x002A

0x002B

Network management services

3.3.6

Network management can be divided into two groups.

Using the NMT services for device monitoring, bus users can be initialized, started and stopped.

In addition, NMT services exist for connection monitoring.

Description of the NMT command

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

Byte 0

Byte 1

COB ID = 0

Command byte

The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.

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 required users. With node number = 0, all users are

addressed.

Baumer_GIM500R_CANopen_MA_EN.docx

03.19

0x0001

0x0005

0x0006

0x0005

0x1000

0x1001

0x1000

0x1001

0x1002

0x1003

0x1004

0x1005

0x1006

0x1007

0x0005

0x0006

0x000A

0x0005

0x0006

0x000A

0x0006

Byte 2

Node number

In state event drawing

4, 5

14/29

zero pointer

index out of bound

switch default case reached

index out of bound

MEMS initialization

Static acc data

Parameterization error

index out of bound

switch default case reached

Overflow

index out of bound

switch default case reached

Overflow

switch default case reached