Error Control Protocols - WAGO -I/O-SYSTEM 750 Technical Description

98 • CANopen
Network Communication
4.3.3.1.3 Enter Pre-Operational
This service is used to change the status of the NMT Slave (bus coupler) to
PRE-OPERATIONAL.
NMT Master
request
Fig. 4-14: Enter PRE-OPERATIONAL
Node ID = 0: The state of all existing nodes is changed to
PRE-OPERATIONAL.
4.3.3.1.4 Reset Node
In this service a reset is performed with the NMT Slave (bus coupler).
NMT Master
request
Fig. 4-15: Reset Node
Node ID = 0: a reset of all existing nodes is performed.

4.3.3.2 Error Control Protocols

These protocols permit the detection of possible errors in the network. In this
manner the master can check whether a node is still in the status defined by it
or if it has changed to a different status, for instance following a reset.
Enter Pre-Operational
0 1
CS Node
= 128 ID
COB-ID = 0
Reset Node
0 1
CS Node
= 129 ID
COB-ID = 0
NMT Slave(s)
indication(s)
g012417x
NMT Slave(s)
indication(s)
g012418x
WAGO-I/O-SYSTEM 750
CANopen