Festo CiA 402 Manual page 37

3 CANopen access procedure
Structure of the NMT message:
Identifier: 000
h
000 2
h
Data length
For the NMT status of the motor controller (NMT participant), statuses are established in a status dia-
gram. Changes in statuses can be triggered via the CS byte in the NMT message. These are largely ori-
ented on the target status.
Initialisation
Reset Application
Reset communication
aD
Pre-Operational (7F
aC
aB
Operational (05
Fig. 3.2 Status diagram
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Command specifier
CS NI
Node ID
1
aE
2
)
h
3 5
Stopped (04
6
4
)
h
7
)
h
8
aA
aJ
9
37