Baumer GXP5W Посібник - Сторінка 12
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Different NMT states
Init
Following initialization the encoder sends a BootUp message on the CAN bus. Then the encoder
automatically switches into PreOperational mode.
The COB-ID of the BootUp message consists of 700h an the Node-ID.
COB-ID
Byte 0
700h + Node-
00
ID
Pre-Operational Mode
In the Pre-Operational mode, SDOs can be read and written.
Operational Mode
In the Operational mode the encoder sends the desired PDOs. In addition, SDOs can be read and written.
Stopped or Prepared Mode
In the Stopped mode only NMT communication is possible. No SDO parameters can be read or written. LSS
is only possible in the Stopped mode.
State change
Start Remote Node (1)
With the Start command, the encoder is switched into the Operational mode.
COB-ID
Command Byte
0
1h
Stop Remote Node (2)
With the Stop command the encoder is switched into the Stopped or Prepared mode.
COB-ID
Command Byte
0
2h
Enter Pre-Operational Mode (3)
Switches into the Pre-Operational mode.
COB-ID
Command Byte
0
80h
Reset Remote Node (4) or Reset Communication (5)
With the Reset command the encoder is reinitialized.
Reset Remote Node (4):
COB-ID
Command Byte
0
81h
Reset Communication (5):
COB-ID
Command Byte
0
82h
Manual_GXP5_417_Lift_EN.doc
04.05.11
Node Number
0 - 127
Node Number
0 - 127
Node Number
0 - 127
Node Number
0 - 127
Node Number
0 - 127
12/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany