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3
CANopen access procedure
NMT telegrams must not be sent in a burst (one immediately after another)!
At least twice the communication cycle time (2 x 6.4 ms) must lie between two consecut-
ive NMT messages on the bus with the same identifier (also for different nodes!) for the
motor controller to process the NMT messages correctly.
If necessary, the NMT command "Reset Application" is delayed until an ongoing saving
procedure is completed, since otherwise the saving procedure would remain incomplete
(defective parameter set).
The delay can be in the range of a few seconds.
The NMT status must be set to operational for the motor controller to transmit and re-
ceive PDOs.
3.6.1
Boot-up (Boot-up Protocol)
Overview
After the power supply is switched on or after a reset, the motor controller reports via a Bootup mes-
sage that the initialisation phase is ended. The motor controller is then preoperational in the NMT
status (
Chapter 3.6, Network Management (NMT Service)).
Structure of the boot-up message
The Boot-up message is structured almost identically to the Heartbeat message (
In the Boot-up message a 0 is sent instead of the NMT status.
Identifier: 700
h
701
1
h
Data length
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
+ node ID (example node ID 1)
Boot-up message identifier
0
Section 3.6.7).
39
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