Table of Contents
Advertisement
4.9
4.9.1
4.9.1.1
After the initialization, each slave on the system bus transmits its boot-up message
(heartbeat message).
Note:
This telegram is used when a PLC/PC with CANopen functionality is used as a master.
A frequency inverter defined as a system bus master does not evaluate the boot-up
message.
4.9.1.2
The identifier used for the NMT telegrams is "0" and may only be used by the system
bus master for NMT telegrams. The telegram contains two data bytes.
If node ID ≠ 0, the NMT command acts on the node selected via the node ID. If node
ID = 0, all the nodes are addressed.
Attention! The reset node and reset communication command specified according
After a slave has received the command "Start Remote Node", it activates the PDO
channels and is ready for the exchange of process data.
06/05
06/05
Slave functionality
Implement boot-up sequence, network management
Boot-up message
The boot-up telegram has the identifier 1792 + node ID and a data byte
with contents = 0x00.
Status control
Byte 0
Byte 0
CS (Command Specifier)
Identifier = 0
Transition
Command
(3),(6)
Start Remote Node
(4),(7)
Enter Pre-Operational
(5),(8)
Stop Remote Node
-
Reset Node
-
Reset Communication
to DS 301 lead to a change to Pre-Operational via Initialization in the
frequency inverters. A new boot-up message is generated.
Byte 1
Byte 1
Node-ID
Command Specifier
1
128
2
129
130
21
21
Advertisement
Table of Contents
