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<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">Hi,
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">As far as I know, the shutdown command is not part of the ethercat specification, but a slave-specific command value send via PDOs.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">In your case, it will most likely be different from what I had, if it exists at all. If it exists in your case, you should find it in the technical description
of your slave. <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">In my case, I used the N5.1.1 by Nanotec. According to its documentation, it implements the state machine of the CANopen-Standard 402. In this case, there
is a control word in object 6040h with which a change of states can be requested, including shutdown. In object 6041h the actual state can be read.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">Check the technical documentation of your device for something similar. If there is nothing, I am most likely wrong and your error has a different reason.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">Good luck!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US">Amos<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:11.0pt;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span lang="EN-US" style="font-size:9.0pt;font-family:"Arial",sans-serif;color:#1F497D">--
<br>
Amos Merkel, M.Sc.<br>
Group leader<br>
Digitalization & Automation<br>
<br>
ifas – Institute for Fluid Power Drives and Systems<br>
RWTH Aachen University<br>
Campus-Boulevard 30<br>
52074 Aachen<br>
<br>
Tel: +49 241 80-47737<br>
Fax: +49 241 80-647712<o:p></o:p></span></p>
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<p class="MsoNormal" style="text-align:justify"><b><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D"><o:p> </o:p></span></b></p>
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<p class="MsoNormal"><b><span style="font-size:11.0pt">Von:</span></b><span style="font-size:11.0pt"> Howard <loveconan006@gmail.com>
<br>
<b>Gesendet:</b> Mittwoch, 22. </span><span lang="EN-US" style="font-size:11.0pt">September 2021 09:33<br>
<b>An:</b> Merkel, Amos <Amos.Merkel@ifas.rwth-aachen.de><br>
<b>Betreff:</b> Re: [Etherlab-users] Received upload response for wrong SDO<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW">Thanks to your reply.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW">I have a similar effect, too. I think that I need a shutdown command or some way to reboot the driver with controller.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW">I think that it’s more difficult to reboot with controller, so I want to try shutdown command.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW">But I don’t find any shutdown command in document of EtherCAT, I want to know what your shutdown command is.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW">Regards,</span><span style="mso-fareast-language:ZH-TW"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:ZH-TW">Howard<o:p></o:p></span></p>
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