User guide


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8645 - 145
Step 10

This command sets the node back to the SYSTEM INIT state. The node then switches automatically to the
PRE-OPERATIONAL state (see step 5) and from here can be switched to the OPERATIONAL state again
(see step 6).
MASTER Example:
Identifier = 0
Length = 2
Data = 81 00 xx xx xx xx xx xx hex (xx: don’t care)
Identifier = 0
Length = 2
Data = 81 00 hex

4 PDOs are defined in each direction as standard.

PDO TX1 Byte 1 ... ... ... ... ... ... Byte 8
(6000 / 1) hex (6000 / 8) hex
PDO TX2 Byte 9 ... ... ... ... ... ... Byte 16
(6000 / 9) hex (6000 / 10) hex
PDO TX Byte 17 ... ... ... ... ... ... Byte 24
(6000 / 11) hex (6000 / 18) hex
PDO TX4 Byte 25 ... ... ... ... ... ... Byte 2
(6000 / 19) hex (6000 / 20) hex

PDO RX1 Byte 1 ... ... ... ... ... ... Byte 8
(6200 / 1) hex (6200 / 8) hex
PDO RX2 Byte 9 ... ... ... ... ... ... Byte 16
(6200 / 9) hex (6200 / 10) hex
PDO RX Byte 17 ... ... ... ... ... ... Byte 24
(6200 / 11) hex (6200 / 18) hex
PDO RX4 Byte 25 ... ... ... ... ... ... Byte 2
(6200 / 19) hex (6200 / 20) hex