Boot-Up Message; Nmt Commands - BONFIGLIOLI Vectron Active Cube User Manual

11.7.2

Boot-Up message

0x700 (=1792) + Node-ID
The Boot-Up message is sent automatically when the device is powered on or reset
(i.e. fault reset). This helps the PLC recognizing to switch on a device (i.e. after a
power failure and recovery) reliable during operation without Nodeguarding.
If the inverter is switched on after the PLC, the PLC can use this boot-up message
to begin the initialization. The boot-up message signals the PLC, that the inverter is
ready for the PLC to communicate. Using a NMT telegram "Reset Node" or "Reset
Communication" forces a Reset of the node communication and results in a Boot-Up
message.
Please refer also to chapter 11.8 "Guarding".
11.7.3

NMT commands

Identifier
0
id = 0
id = 1...0x7F (=127)
cs:
NMT states and active communication objects:
PDO
SDO
SYNC
Emergency
Node control + NMT
error control *
* NMT commands + Guarding/Heartbeat function
40
Identifier
Byte 0
Command Specifier
cs
command addressed to all devices
command addressed to device with Node-ID = id
1 Start Remote Node
2 Stop Remote Node
0x80 (=128) Enter Pre-Operational
0x81 (=129) Reset Node
0x82 (=130) Reset Communication
Pre-Operational
CM-CAN ACU
Byte 0
0
Byte 1
Node-ID
id
Operational
X
X X
X X
X X
X X
Stopped
X
04/13