CANopen NMT Master Command
This block transmits an NMT command to another node.
Block ID
CANopen NMT Master Command
Library
motohawk_canopen_lib
Description
This block will transmit an NMT command message to the input port determined slave node ID when executed. This port accepts a specific node ID (1-127) or all nodes (0). The command input port will be the NMT command value that is to be transmitted in the NMT command message.
Transmitting NMT commands is only possible when NMT master instance is defined and enabled.
When the referenced NMT master instance is disabled (which means that the CANopen instance is an NMT Slave) transmitting NMT commands is disabled as well.
Which command is transmitted is defined by a value supplied to the command input. Possible values :
- 1 - Start
- 2 - Stop
- 128 - Enter Pre-Operational
- 129 - Reset Node
- 130 - Reset Communication
This block also allows changing internal NMT state. In this case the slave node ID value must be the same as node ID value supplied to the referenced CANopen instance.
Block Parameters
| Parameter Field | Values | Comments/Description |
|---|---|---|
| NMT Master Reference | String | Name of referenced NMT master instance. |