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3
CANopen access procedure
3.6.2
Start Remote Node
The NMT-master uses the NMT-service Start Remote Node to change the NMT-status of the selected
NMT-participant. If processed successfully, the new NMT status is operational.
Structure of the Start Remote Node message
Identifier: 000
h
000
2
h
Data length
3.6.3
Stop Remote Node
The NMT-master uses the NMT-service Stop Remote Node to change the NMT-status of the selected
NMT-participant. If processed successfully, the new NMT status is stopped.
Structure of the Stop Remote Node message
Identifier: 000
h
000
2
h
Data length
3.6.4
Enter Pre-Operational
The NMT-master uses the NMT-service Enter Pre-Operational to change the NMT-status of the selected
NMT-participant. If processed successfully, the new NMT status is pre-operational.
Structure of the Enter Pre-Operational message
Identifier: 000
h
000
2
h
Data length
40
Command specifier
1
NI
Node ID
Command specifier
2
NI
Node ID
Command specifier
128
NI
Node ID
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
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