Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 15)

Manual_CANopen_BIDE_EN.docx 15/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
The various NMT statuses
Init
Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes
automatically to the pre-operational mode status.
The COB ID of the BootUp message is made up of 700h and the node ID.
COB ID Byte 0
700h + node ID 00
Pre-operational mode
In the pre-operational mode, SDOs can be read and written.
Operational mode
In the operational mode, the encoder transmits the requested 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 set. LSS is
only possible in the stopped mode.
Status change
Start remote node (1)
With the start command, the encoder is switched to the operational mode status.
COB ID Command byte Node number
0 1h 0..127
Stop remote node (2)
With the stop command, the encoder is switched to the stopped or prepared mode status.
COB ID Command byte Node number
0 2h 0..127
Enter pre-operational mode (3)
Change to the pre-operational mode status.
COB ID Command byte Node number
0 80h 0..127
Reset remote node (4) or reset communication (5)
With the reset command, the encoder is re-initialized.
Reset remote node (4):
COB ID Command byte Node number
0 81h 0..127
Reset communication (5):
COB ID Command byte Node number
0 82h 0..127