# CANopen Stop

## Overview

![The CANopen Stop Node.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-c895003458a435473f5b948bc901948a603e3987%2Fcanopenstop.png?alt=media)

The **CANopen Stop Node** halts communication with a **CANopen** connection.

It is important to note that while the **CANopen Stop Node** stops a **CANopen** connection, it may not completely finish disconnecting from said connection when the **Node** is executed. This could lead to the **Logic** attached to its **Output Pulse** to not work even though there is technically nothing wrong. In order to avoid this, it is highly suggested to use the [**On CANopen Stop Node**](https://docs.incari.com/incari-studio/toolbox/communication/canopen/events/oncanopenstop) instead. This way, it is assured that the **Logic** will execute once the connection to the **CANopen** connection has been terminated.

Again, the user must first use the **CANopen Stop Node** to close the connection. Separately, the **On CANopen Stop Node** can be used to execute the desired **Communication Logic**.

![CANopen Stop and On CANopen Stop Configuration.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-323152d8721df4ba7c617c47f9b84af38b84b19a%2Fcanopenstopconfig.png?alt=media)

[**Scope**](https://docs.incari.com/incari-studio/overview#scopes): **Project**, **Scene**.

## Attributes

![The CANopen Stop Node Attributes.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-fc8769381555514b2674c44e17be61043b726316%2Fcanopenstopatts.png?alt=media)

| Attribute       | Type          | Description                                                                                                                                                                             |
| --------------- | ------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `Configuration` | **Drop-down** | The identifying connection name that will be used, which has already been set up in the [**Project Settings**](https://docs.incari.com/incari-studio/modules/project-settings/canopen). |

## Inputs

| Input             | Type      | Description                                                           |
| ----------------- | --------- | --------------------------------------------------------------------- |
| *Pulse Input* (►) | **Pulse** | A standard **Input Pulse**, to trigger the execution of the **Node**. |

## Outputs

| Output             | Type      | Description                                                                                                                            |
| ------------------ | --------- | -------------------------------------------------------------------------------------------------------------------------------------- |
| *Pulse Output* (►) | **Pulse** | A standard **Output Pulse**, to move onto the next **Node** along the **Logic Branch**, once this **Node** has finished its execution. |

## See Also

* [**CANopen Start**](https://docs.incari.com/incari-studio/toolbox/communication/canopen/canopenstart)
* [**CANopen Send**](https://docs.incari.com/incari-studio/toolbox/communication/canopen/canopensend)