Network Management (Nmt Service) - Festo CiA 402 Manual

3 CANopen access procedure
Sub-Index
Description
Access
PDO Mapping
Units
Value Range
Default Value
Object 1014 _00 : cob-id_emergency_object
h h
This object contains the cob-id (identifier) of the emergency message.
The contents of this object are dependent on the object 6510_F0, compatibility control:
– Default, dependent on NodeID (bit 3 of 6510_F0 = 0):
Emcy CobID can be read out: 80h + NodeID
– Freely adjustable Emcy CobID (bit 3 of 6510_F0 = 1):
Value is readable and writeable, range of values 81h .. FFh.
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
3.6

Network Management (NMT Service)

All CANopen equipment can be triggered via the Network Management. Reserved for this is the identifi-
er with the top priority (000
Each command consists of two bytes, whereby the first byte contains the command code (command
specifier, CS) and the second byte the node ID (node id, NI) of the addressed motor controller. Through
the node ID zero, all nodes in the network can be addressed simultaneously. It is thus possible, for
example, that a reset is triggered in all devices simultaneously. The motor controllers do not acknow-
ledge the NMT commands. Successful implementation of the reset can only be determined indirectly
(e.g. through the switch-on message after a reset).
36
04
h
standard_error_field_3
ro
no
–
–
–
00
h
cob-id_emergency_object
UINT32
rw
no
–
–
80 + node ID
h
). By means of NMT, commands can be sent to one or all motor controllers.
h
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English