Baumer CiA DS-301 Manual page 16

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 00h
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
0h 1h
Stop remote node (2)
With the stop command, the encoder is switched to the stopped or prepared mode status.
COB ID Command byte
0h 2h
Enter pre-operational mode (3)
Change to the pre-operational mode status.
COB ID Command byte
0h 80h
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
0h 81h
Reset communication (5):
COB ID Command byte
0h 82h
BUDE_Manual-CANopen_EN.doc
23.10.2012/bja
Node number
0..127
Node number
0..127
Node number
0..127
Node number
0..127
Node number
0..127
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Berlin, Germany