NmtCommand Enum¶
CiA 301 §7.2.8 NMT master command specifiers. Encoded in byte 0 of the NMT master frame at
COB-ID 0x000, followed by the target node-id in byte 1 (0 = broadcast to all nodes).
Fields¶
Start 1
Start Remote Node — transitions the target into Operational.
Stop 2
Stop Remote Node — transitions the target into Stopped.
EnterPreOperational 128
Enter Pre-Operational — transitions the target into PreOperational.
ResetNode 129
Reset Node (§7.2.8.2.1.5): the application and the communication profile return
to their power-on values, then the node sends boot-up and enters Pre-Operational. Without
a device description this node has no source for the application objects' power-on
values, so it restores the communication profile and leaves the application objects to
the application (see ICanOpenNode.NmtCommandReceived).
ResetCommunication 130
Reset Communication (§7.2.8.2.1.6): the communication-profile objects
(1000h–1FFFh) return to their power-on values, the guarding toggle is reset,
then the node sends boot-up and enters Pre-Operational.