Slave Functionality; Implement Boot-Up Sequence, Network Management; Boot-Up Message; Status Control - BONFIGLIOLI Vectron Manual

5.9
5.9.1
5.9.1.1
After the initialization, each slave on the system bus transmits its boot-up message
(heartbeat message).
Note:
This telegram is of importance if a PLC/PC with CANopen functionality is used as a
master. An frequency inverter defined as a system bus master does not evaluate the

boot-up message.

5.9.1.2
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.
With the statement of the node ID ≠ 0, the NMT command acts on the subscriber se-
lected via the node ID. If node ID = 0, all the subscribers are addressed. If Node-ID
= 0, all 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.
24
24

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
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. There is a new boot-up message.
Byte 1
Node-ID
Command Specifier
EM-RES-03
EM-RES-03
1
128
2
129
130
10/07
10/07