Moog ACV with CANopen bus interface
2 Access over CANopen
Network management state machine (NMT state machine)
B99224-DV018-D-211, Rev. A, October 2018
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2.9.2 Start remote node command (COB-ID:0, CS:1)
This command requests the selected slave node(s) to enter the state 'Operational'.
Figure 13: Structure for a start remote node frame
Figure 14: Example for a start remote node frame with Node-ID 127 (0x7F)
2.9.3 Stop remote node command (COB-ID:0, CS:2)
This command requests the selected slave node(s) to enter the state 'Stopped'.
2.9.4 Enter 'Pre-Operational' command (COB-ID:0, CS:128)
This command requests the selected slave node(s) to enter the state 'Pre-Operational'.
2.9.5 Reset node command (COB-ID:0, CS:129)
This command requests the selected slave node(s) to enter the state 'Reset Application'.
All application parameters will be set to their default. The valve application will be re-started. After restarting
the application, the reset node calls the reset communication command.
2.9.6 Reset communication command (COB-ID:0, CS:130)
This command requests the selected slave(s) to enter the state 'Reset Communication'.
The PDO communication will be stopped. After re-initialization of the network communication, the NMT state
'Pre-Operational' will be entered.
