ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 41)

The following NMT services are supported:
Command Specifier Service
1 Start remote node (go to operational).
2 Stop remote node (go to prepared).
128 (0x80) Enter pre-operational state.
129 (0x81) Reset node (perform full software reset).
130 (0x82) Reset communication (reload communication parameters from
flash, reset CAN software and enter pre-operational state).
Table 7-2: Supported NMT Services
Note: It is recommended that you turn off the motor and kill any user program
before executing NMT 130.
CANopen DS 301 Implementation Guide Emergency (EMCY)
MAN-CAN301IG (Ver. 2.1)
7-2