West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 15)

KS 800 CAN-Interface
4 OP mode / pre-OP mode
After starting the CAN network, controller KS800 is in the pre-OP mode. I.e. it can be addressed
only via SDOs. When setting KS800 to the OP mode, communication via the enabled PDOs is
also possible. The asynchronous PDOs are enabled after start-up. If necessary, the synchronous
PDOs must be enabled via SDO messages.
Setting KS800 to OP mode:
2 data bytes
COB-ID LEN Command Node
0x00 2 0x01 * )
When selecting node address "0", all controllers in the network are set to the OP mode. The
controllers do not send a reply to this message.
Setting KS800 to pre-OP mode:
2 data bytes
COB-ID LEN Command Node
0x00 2 0x80 * )
When selecting node address "0", all controllers in the network are set to the pre-OP mode. The
controllers do not send a reply to this message.
Further NMT (Network-Management) - Commands:
Reset Node:
2 data bytes
COB-ID LEN Command Node
0x00 2 0x81 * )
Reset Communication:
2 data bytes
COB-ID LEN Command Node
0x00 2 0x82 * )
* ) NodeID-range within 1 ...127
Caution: Reset mode leads to a KS 800 reset, i.e. the controller will be accessible via
CAN-bus again only after several seconds. All Command-Parameters are set to the default
values.
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