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The following example shows the sequence for restarting a CANopen node AppNode. Assuming the CANopen stack is initialized and started before, we just need to stop and re-initialize the stack to reset the node.
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CONodeStop (&AppNode);
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CONodeInit (&AppNode, (CO_NODE_SPEC *)&AppSpec);
err = CONodeGetErr (&AppNode);
if (err == CO_ERR_NONE) {
CONodeStart (&AppNode);
} else {
/* error handling and diagnostics */
}
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Attention: This procedure is NOT the standard node reset, which can be requested from the CANopen master or via the API function CONmtReset(). This sequence will transmit the boot-up message.
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