West-control-solutions KS 800 CANopen Interface Manual Manual de usuario descargar pdf (Pagina 15)

KS 800 CAN-Interface

4 OP mode / pre-OP mode

After starting the CAN network, controller KS800 is in the pre-OP mode. I.e. it can be addressed

only via SDOs. When setting KS800 to the OP mode, communication via the enabled PDOs is

also possible. The asynchronous PDOs are enabled after start-up. If necessary, the synchronous

PDOs must be enabled via SDO messages.

Setting KS800 to OP mode:

2 data bytes

COB-ID LEN Command Node

0x00 2 0x01 <Number>

)

When selecting node address "0", all controllers in the network are set to the OP mode. The

controllers do not send a reply to this message.

Setting KS800 to pre-OP mode:

2 data bytes

COB-ID LEN Command Node

0x00 2 0x80 <Number>

)

When selecting node address "0", all controllers in the network are set to the pre-OP mode. The

controllers do not send a reply to this message.

Further NMT (Network-Management) - Commands:

Reset Node:

2 data bytes

COB-ID LEN Command Node

0x00 2 0x81 <Number>

)

Reset Communication:

2 data bytes

COB-ID LEN Command Node

0x00 2 0x82 <Number>

)

) NodeID-range within 1 ...127

Caution: Reset mode leads to a KS 800 reset, i.e. the controller will be accessible via

CAN-bus again only after several seconds. All Command-Parameters are set to the default

values.

9499 040 49511 15

1 2 ... 10 11 12 13 14 15 16 17 18 19 20 ... 45 46

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West-control-solutions KS 800 CANopen Interface Manual Manual de usuario Pagina 15