Code: |
AS + 923 |
Symbolic: |
bccFbWriteCanNmt |
This command will write the NMT command to the device CANopen Interface. Request parameters are the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: 0x40000000 Request the ERRTEXT field |
4 |
U32 |
NODE |
Node address |
8 |
U32 |
CMD |
NMT command: 1=Request Start 2=Request Stop 128=Request to enter PreOperational 129=Request Reset node 130=Request Reset communication |
On success, a bccAck is received with following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Reply flags: (none) |
4 |
U32 |
NODE |
Required node address |
8 |
U32 |
PSTATUS |
Previous NMT status: 0=Init 1=Reset node 2=Reset communication 4=Stop 5=Operational 127=PreOperational |
12 |
U32 |
CMD |
NMT command (echo) |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackMissingArgs |
Missing arguments |
|
nackIllegalArgs |
Illegal arguments |
U16 What illegal: 1=Flags 2=Node address 3=NMT command |
nackInterfaceNotFound |
CANopen interface not present |
|
nackInterfaceNotReady |
CANopen interface not running |
|
