HMS Anybus X-gateway CANopen Series User Manual page 40

Request NMT, 1F82h
Each node on the CANopen network can be controlled individually from the fieldbus application by
sending this object. The sub-index indicates what nodes the request affects:
Sub-Index Description
0 Largest sub-index supported (128)
i (with i = 1...127) Request NMT Service for the slave with Node ID i.
128 Request NMT Service for all nodes
The desired state is given as a numeric value when writing to or reading from the local object dictionary:
Value State
4 READY
5 OPERATIONAL
6 RESET NODE
7 RESET COMMUNICATION
127 PRE-OPERATIONAL
The entire network can be started with one command (sub-index 128)
Examples
• Node 5 should be transferred to the OPERATIONAL state:
An SDO write access with the value 5 is executed to object 1F82h sub-index 5 in the local object
dictionary. When an NMT command is sent, data is cleared.
• All the nodes in the network should be transferred to the PRE-OPERATIONAL state:
An SDO write access with the value 127 is executed to object 1F82h sub-index 128 in the local
object dictionary.
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
CANopen Supported Objects 36
Doc.Id. SCM-1200-080