Maxon EPOS4 User Manual

CAN Communication
CANopen Application Layer
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
3-33
The communication object possesses the identifier (=0) and consists of two bytes. The Node-ID defines the
destination of the message. If zero, the protocol addresses all NMT Slaves.
Figure 3-23 CAN communication – NMT object
Table 3-12 CAN communication – NMT protocols
Protocol COB-ID
CS
(Byte 0)
Node-ID
(Byte 1)
Functionality
Enter
Pre-Operational
0 0x80 0 (all)
All CANopen nodes (EPOS4 devices) will enter NMT State “Pre-
Operational”.
0 0x80 n
The CANopen node (EPOS4 device) with Node-ID “n” will enter
NMT State “Pre-Operational”.
Reset
Communication
0 0x82 0 (all) All CANopen nodes (EPOS4 devices) will reset the communication.
0 0x82 n
The CANopen node (EPOS4 device) with Node-ID “n” will reset the
communication.
Reset Node
0 0x81 0 (all) All CANopen nodes (EPOS4 devices) will reset.
0 0x81 n The CANopen node (EPOS4 device) with Node-ID “n” will reset.
Start Remote
Node
0 0x01 0 (all)
All CANopen nodes (EPOS4 devices) will enter NMT State
“Operational”.
0 0x01 n
The CANopen node (EPOS4 device) with Node-ID “n” will enter
NMT State “Operational”.
Stop Remote
Node
0 0x02 0 (all)
All CANopen nodes (EPOS4 devices) will enter NMT State
“Stopped”.
0 0x02 n
The CANopen node (EPOS4 device) with Node-ID “n” will enter
NMT State “Stopped”.

Maxon EPOS4 Specifications

General

Brand	Maxon
Model	EPOS4
Category	Network Card
Language	English