ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 241)

Chapter 13. Node DS301 Command
Reference
This chapter describes the Maestro object Node DS301, its functionality and the
available CANopen objects.
Node DS301 – The CANopen device supports the CiA CAN DS301 protocol. The
Maestro device provides the ability to work with the Elmo Motion Axis, DS402 Motion
Axis, DS401 CAN I/O and simultaneously treat them as DS301 Node objects. To
access the Elmo Axis (or the DS402 Axis or the DS 401I/O) object via the CAN DS301
protocol, you must create a DS301 Node object for the same CAN ID.
The Maestro object supports the following CANopen services for Node DS301:
• NMT Service
• Sync and timestamp
• Emergency handling
• Send PDO (process data object)
• Receive PDO (carried out by Callback Functions).
• Download SDO (service data object)
• Upload SDO
• Heartbeat handling
13.1
Maestro Software Manual
NMT Service
This function implements the Network Management (NMT) service to configure,
initialize, and handle errors in a CAN network.
Syntax:
<node>.nmt(cmd)
Input Parameters:
cmd - NMT command specifier. It can be one of the following:
0x01 – start node;
0x02 – stop node;
0x80 – enter pre-operational mode;
0x81 – reset node;
0x82 – reset communication parameters.
Return Value:
None
Example:
node1.nmt(0x01) //start node
MAN-MASSW (Ver. Q)
13-1