Station.. ………………………………………………………………15-22 15.5 Sending SDOs and NMT, and Reading Emergencies by Functions Blocks ………………………………………………………………………………15-23 15.5.1 Principle...................................................................................... 15-23 15.5.2 Sending an SDO Command ....................................................... 15-24 15.5.3 Sending an NMT Command ....................................................... 15-27 15.5.4 Reading Emergency Messages .................................................. 15-29 15.5.5 Obtaining the States of the Slave Stations on a CANopen Network ....
................................................................................................... 15-32 15.6 Error Diagnostics and Troubleshooting .............................................. 15-35 15.6.1 LED Indicators and Troubleshooting .......................................... 15-35 15.6.2 Error Codes ................................................................................ 15-36 xiv