Code: |
AS + 913 |
Symbolic: |
bccFbWriteEcatNmt |
This command will force the NMT status to the device EtherCAT Interface. Request parameters are the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags |
4 |
U32 |
NODE |
Node address |
8 |
U32 |
FSTATUS |
NMT status to force: 0 = Remove forced 1 = Request Init 2 = Reuqest PreOperational 4 = Request SafeOperational 8 = Request Operational |
12 |
U32 |
FTOUT |
NMT force timeout [ms] |
On success, a bccAck is received with following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Reply flags: |
4 |
U32 |
NODE |
Node address (echo) |
8 |
U32 |
STATUS |
Actual NMT status: 1 = Init 2 = PreOperational 3 = Boot 4 = SafeOperational 8 = Operational |
12 |
U32 |
FSTATUS |
Forced NMT status: 1 = Init 2 = PreOperational 3 = Boot 4 = SafeOperational 8 = Operational |
16 |
U32 |
FTOUT |
NMT force timeout [ms] (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 status 4=NMT force timeout |
nackInterfaceNotFound |
EtherCAT interface not present |
|
nackInterfaceNotReady |
EtherCAT interface not running |
|
