Siemens Simovert Masterdrives Compendium page 586

Communication / CBC CANopen Communication Board
(2)
(12), (13), (14)
(9), (10), (11)
(15)
(16)
PDO
SDO
Synchronization Object
Emergency Object
Boot-Up Object
Network Management Object
8.5-28
Initialization
(14)
power on or
(13)
hardware reset
(12)
Fig. 8.5-2 Structure of the initialization state
Initialization finished – enter PRE-OPERATIONAL automatically
Reset_Communication indication
Reset_Node indication
Application Reset performed
Communication Reset performed
The pulses on the drive are disabled by an NMT command Reset
Application. This causes the motor to coast to a standstill. The CBC
then ceases to operate the heartbeat counter, causing activation of
error F81. This is acknowledged by the CBC and the drive is then re-
initialized. The re-initialization operation sets all objects specific to the
manufacturer and device to the value following "Voltage On". The drive
then switches to the Reset Communication state. All communication
objects are reset to the default value. After initialization, the drive
returns to the pre-operational state again (does not apply to general
CANopen device).
INITIALIZING PRE-OPERATIONAL
X
Reset
Application
(15)
Reset
Communication
(16)
Initializing
(2)
OPERATIONAL
X
X
X
6SE7087-6QX70 (Version AD)
Compendium Motion Control
02.2004
(11)
(10)
(9)
STOPPED
X
X
X
X
X X
Siemens AG
SIMOVERT MASTERDRIVES